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Posting this half as a question, half as a rant. Backdrivability is the property that lets an external force move a joint without destroying the gearbox or the motor - it's central to both safe human-robot contact and to letting a leg comply naturally when the robot stumbles. Cycloidal drives are a less common but real alternative to harmonic drives - lower cost at high ratios, decent efficiency, but historically bulkier for the same torque density, which is part of why they haven't fully displaced harmonic drives in commercial hips and knees. Would love to hear from anyone with hands-on experience here.

@mohammed64 Small correction on one detail: 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.

This is exactly the kind of context I was looking for. Torque sensing is frequently integrated directly into the actuator housing via strain gauges near the output flange or spring element, rather than bolted on as an external sensor, to save weight and reduce noise from mechanical slop.

@carol38 From hands-on experience, Quasi-direct drive (QDD) actuators use lower gear ratios (roughly 6:1 to 10:1) paired with high-torque-density motors, trading some peak force density for backdrivability and low reflected inertia, which matters a lot for impact tolerance and fall recovery.

Slight correction, though the overall point stands: Boston Dynamics' commercial electric Atlas switched fully from hydraulic to QDD-style electric actuation, ending up quieter and lighter with comparable or better dynamic performance than the old hydraulic platform. Series elastic actuators add a spring element in series with the drivetrain, which gives cheap, precise torque sensing (measure spring deflection) and passive shock absorption, at the cost of reduced control bandwidth and added complexity.

@jchen I can speak to this a bit. Motor cogging torque (the 'notchy' feel from magnet-to-slot interactions) shows up as small periodic torque ripple that can translate into visible joint jitter at low speeds - it's usually mitigated with skewed magnets, better current control, or software compensation tables.

Agreed, and I'd add: For dynamic walking and recovery, joint control bandwidth in the tens of Hz range is typically necessary to react to a stumble before the center of mass gets too far outside the support polygon. A lot of the per-joint cost in a modern actuator isn't the motor - it's the combination of a precision gearbox, integrated encoders, torque sensing, and the driver electronics, all of which have to fit inside a housing the size of a fist.

@servoken70 This matches what I've seen too. Field-oriented control (FOC) tuning directly affects how smooth torque output feels - poorly tuned current loops show up as audible whine and jerky low-speed motion, while well-tuned FOC can make even a geared actuator feel fairly fluid. Harmonic drives use high reduction ratios (often around 100:1), which gives excellent force density, stiffness, and thermal endurance for continuous-duty lifting - the tradeoff is low backdrivability and some backlash.

@barbara50 From what I've seen: Reflected inertia is what a limb 'feels like' to the outside world through the gearbox - a high-ratio harmonic drive reflects a lot of the rotor's inertia back to the joint, making the limb feel stiffer and less forgiving on unexpected impacts.

Same conclusion I've come to. Also worth noting: Anti-backlash techniques in production actuators range from mechanical preloading (spring-loaded gear meshes) to purely software compensation that models and corrects for known backlash in the control loop.