Re: Harmonic drive vs quasi-direct drive - when does each actually win?
Posted: Thu Nov 21, 2024 10:11 am
Follow-up question though -
It's common for a single humanoid to mix actuator types by joint - harmonic drives or hybrid geared actuators at the hips and shoulders where sustained torque matters most, and lower-ratio QDD-style actuators at ankles and knees where backdrivability and impact tolerance matter more.