Humanoids · Sensors · Actuators · Control
CAT-02 — Humanoid & Robotics Systems examines the mechanical engineering, rotary/linear actuators, precision gear reducers, 6-axis force/torque & tactile sensors, and whole-body control systems of modern humanoids.
Core Research Track
- Tesla Optimus Gen1 to Gen3 (V3) Evolution: 22-DoF tendon-driven hands, forearm actuator relocation, and mass-production bottlenecks
- [Pillar] Global Humanoid Platforms Compared: Tesla Optimus V3 vs. Figure 03 (Helix-02) vs. Boston Dynamics Electric Atlas
- Robot Actuator Engineering: Rotary vs. Linear (planetary roller screw) actuators across torque density, backdrivability, thermal management, and cost
- Precision Gear Reducers Compared: Harmonic drive, cycloidal, and planetary gearboxes
- Robotic Tactile Intelligence: 6-axis Force/Torque (F/T) sensors, electronic skin, and modular sensing gloves