What cooling solutions are people using for hip/knee actuators specifically?

[williams84]

Something I keep coming back to and can't quite settle on my own. Distributed power architectures (multiple smaller packs or local capacitor buffering near high-draw actuators) can reduce peak current demands on the main bus and improve fault isolation, at the cost of added complexity versus a single central pack. Thermal margin in a densely packed humanoid chassis is often the real limiting factor on sustained performance, not raw motor power - actuators get thermally throttled well before they'd hit their absolute torque limits, especially during repeated high-load cycles like continuous lifting. Tesla's Optimus Gen 2 reportedly carries roughly a 2.3 kWh pack and manages about two hours of dynamic work, while Unitree's H1 runs a smaller 0.864 kWh pack good for under four hours of largely static operation - a useful illustration of how battery size and workload type both drive runtime. What's everyone else's take?

[lbianchi]

@williams84 This is a great summary, thanks. Idle/standing power draw is often surprisingly close to a meaningful fraction of active walking power draw once you account for onboard compute, sensors, and balance-holding torque - 'doing nothing' still costs real energy on a humanoid.

[jhansen]

Sorry if this is a basic question, but DC-DC conversion losses across all the individual actuator drivers add up across a whole robot - it's a less glamorous efficiency question than battery chemistry, but power electronics efficiency meaningfully affects real-world runtime too. A BMS (battery management system) has to guard against transient current spikes from sudden gait changes or lifting motions, not just steady-state draw - peak current headroom and fast-acting protection logic matter as much as total capacity for real-world duty cycles.

[garcia51]

@jhansen Agreed, and I'd add: Regenerative braking on humanoid joints can recover some energy during deceleration phases of walking, but the actual energy recovered is modest compared to a vehicle, since humanoid joints don't sustain the same continuous high-speed rotation that makes regen worthwhile in EVs. The average humanoid in 2026 carries under 2.5 kWh of battery capacity, with real-world runtimes clustering between two and four hours depending on how dynamic the workload is - static, low-motion tasks stretch runtime much further than continuous walking or lifting.

[benjaminsanchez]

Follow-up question though - Battery placement (torso-centered vs backpack vs distributed through the limbs) is a real tradeoff between center-of-mass/balance considerations and thermal/cooling access - a torso-centered pack helps balance but is harder to cool than a more exposed backpack placement. Hot-swappable battery packs solve the runtime bottleneck for continuous operations (like a 24/7 warehouse shift) without needing a much bigger, heavier pack, but they add mechanical complexity, a failure-prone connector interface, and logistics overhead for managing spare packs.

[jwang]

@benjaminsanchez Side note that might be relevant: There's no widely standardized safety certification specific to humanoid battery packs yet in most jurisdictions - deployments generally lean on adapted versions of existing standards for industrial battery systems and electrical safety rather than a purpose-built humanoid standard. This whole thread is a good reminder how young this field still is.

[pierregreen]

@jwang I can speak to this a bit. Fast charging accelerates capacity fade over repeated cycles, so fleet operators generally have to choose between minimizing downtime (fast charging) and maximizing pack lifespan (slower charging or swap-based approaches) rather than getting both for free.

[nicole10]

I dealt with almost this exact situation. Best-in-class lithium-ion cells used in humanoids are currently landing around 280-300 Wh/kg, which is respectable but still leaves battery mass as one of the largest single contributors to total robot weight. Higher-voltage power architectures reduce resistive losses and current draw through the wiring harness for a given power level, which is part of why some newer platforms are moving away from lower-voltage packs as total system power demand climbs.

[james15]

@nicole10 Small correction on one detail: Solid-state battery claims from platforms like XPeng's IRON, GAC's GoMate, and EngineAI's T800 are genuinely promising on paper for energy density and safety margins, but independent, large-scale field validation of those runtime claims is still fairly limited as of 2026 - it's real progress, not yet fully proven at scale.

[emilyperez]

From hands-on experience, Fast charging accelerates capacity fade over repeated cycles, so fleet operators generally have to choose between minimizing downtime (fast charging) and maximizing pack lifespan (slower charging or swap-based approaches) rather than getting both for free. Makes me wonder how this looks in another five years.