New development and key technologies of integrated servo joints for humanoid robots
WANG Tengfei
MA Shangjun
FU Xiaojun
XU Jinxing
Abstract：[Significance]Aiming at the problems of lagging development and unclear technical bottlenecks of integrated linear servo joints for humanoid robots,the research progress and application status are systematically sorted out,and the core technical points and future development directions are clarified to support the technological innovation and engineering application of high-performance joints.[Analysis]Firstly,the performance parameters and joint application schemes of more than 10 typical humanoid robots at home and abroad were compared and analyzed to clarify the technical differences and applicable scenarios of rotary joints and linear joints.Secondly,the technical characteristics and engineering progress of three types of linear joint driving forms,namely hydraulic,electric and pneumatic,were systematically summarized.Thirdly,the mainstream configurations of integrated servo joints were summarized,and the performance indicators of mainstream products at home and abroad were quantitatively compared.Finally,the key technical bottlenecks of integrated electric-driven linear servo joints were deeply analyzed.
Keywords：Integrated linear servo jointHigh integrationElectric driveHigh frequency response control
Publication Date：2026-07-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：22( 1-22 )