Discussion on Servo Motor Technology of Humanoid Robot

The power issue is the core problem, and Boston Dynamics uses hydraulic actuators for auxiliary drive. Boston Dynamics' early robots mainly used gear-driven connecting rod mechanisms, which were sufficient for robots without load requirements. However, robots such as BigDog that are powered by internal combustion engines and need to carry large loads have high energy consumption. Multiple energy conversions and multi-link transmissions cause large energy losses, which the original design cannot meet. In order to improve the efficiency of robot operation, reduce power consumption, and improve the robustness of movement, Boston Dynamics selects appropriate hydraulic or electric brakes by judging the type and size of loads borne by the joints to minimize the power consumption of the robot. However, from the perspective of its power source, the main driving method is still hydraulic drive. Hydraulic actuators are mainly used at the connection between the upper and lower limbs of the legs. Compared with pure electric actuators, there are still certain deficiencies in reducing power consumption and improving efficiency.