Operating Principles Of Key Modules in Humanoid Robots

The operating principle of key modules in humanoid robots revolves around the collaborative operation of the 'perception-decision-execution' closed-loop system.

 

Joint Module (Core of Execution)
The joint module is the foundation of robot movement, equivalent to human muscles and bones, and is mainly composed of the following components:

 

Servo Motor: Provides power, requiring high response speed and high torque density (e.g., peak knee torque can reach 150 N·m).

Reducer (such as harmonic drive, cycloidal drive): Converts the motor's high speed into the low speed and high torque output required by the joint while ensuring precision (backlash <1 arcminute).

Encoder: Real-time feedback of joint angles and speeds, used for closed-loop control.

Force/Torque Sensor (in some high-end joints): Monitors output force to achieve precise force control.

Typical Technological Breakthroughs: Cycloidal joint modules (such as Hechuan) combine high precision with high load capacity; self-developed joints (such as Xingshi Era l7) achieve peak torque of 400 N·m, supporting high-dynamic movements like street dancing.

 

Perception Module (Environmental and Status Sensing)
The perception system simulates human senses, capturing internal and external information in real time:

 

Visual Sensors (cameras + depth cameras): Recognize objects and build 3D maps (combined with SLAM algorithms).

IMU (Inertial Measurement Unit): Composed of accelerometers, gyroscopes, and magnetometers, monitoring posture and balance in real time.

Tactile/Force Sensors: Installed in hands and soles to sense contact force and friction (e.g., avoiding breaking a cup when gripping).

Joint Encoders: Provide feedback on joint positions to ensure action accuracy.

Trend: Starting from 2026, dexterous hands generally integrate array-type tactile sensors (electronic skin) to enhance fine manipulation capabilities.