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Module 2: Actuator Architecture

Electric Motors, Compliance & Power Systems

Duration: 6 hours · Level: Intermediate · Lessons: 5

Every physical action G1 takes flows through its actuators. Understand the tradeoffs between torque density, backdrivability, safety, and energy efficiency.

Prerequisites​

Learning outcomes

By the end of this module you will be able to:

  • Select the right actuator topology for each joint class
  • Design for backdrivability and compliant contact
  • Specify battery and power architecture for 8+ hour operation

Lessons in this module​

  1. 2.1 — The Actuator Revolution: From Hydraulics to QDD Electric · 50 min
  2. 2.2 — Series Elastic Actuators — Compliance by Design · 45 min
  3. 2.3 — Joint-Level Architecture for a Full Humanoid · 55 min
  4. 2.4 — Battery Systems & Power Architecture · 45 min
  5. 2.5 — Thermal Management & Actuator Reliability · 40 min

👉 Start here: 2.1 — The Actuator Revolution: From Hydraulics to QDD Electric