Humanoid Robot Actuator Catalog

A catalog-style sourcing page for standard humanoid robot actuators, joint modules, and sample-ready configurations across arm, leg, wrist, ankle, and torso joints.

Target Buyer:Best for robotics teams comparing multiple actuator sizes and buying first samples for concept validation.

Humanoid robot actuator catalog reference module

Reference visual for selection context. Confirm controlled drawings, CAD path, and test records for shortlisted models.

Engineering Asset Status

Reference visuals, controlled records on request

Current site images are reference selection visuals for catalog navigation. They should not be treated as final factory photos, CAD drawings, test records, or lot-specific inspection documents. For shortlisted models, request the controlled packet tied to model code, drawing revision, test condition, and sample lot.

Request model records

Public now

Reference visuals, product-family routes, RFQ class matrices, and validation checklists for early selection.

Request before PO

Controlled datasheet, drawing or CAD path, torque-speed or thermal record, wiring notes, and sample or OQC evidence.

Not claimed publicly

Verified factory-floor photos, teardown images, and lot-specific test reports are not presented as public evidence until real project assets exist.

Capability Highlights

Broad torque-class catalog for early humanoid robot prototype selection
Standard model comparison by joint position, bus voltage, reducer type, encoder, brake, and communication protocol
Fast sample and pilot-order workflow for teams that need hardware before a full custom program is frozen

Typical Applications

Humanoid robot prototype platforms
Bipedal leg and arm joint development
University and robotics lab sample sourcing

Engineering Focus

Match torque, speed, mass, outer diameter, axial length, and thermal duty cycle to the target joint
Compare QDD, harmonic, planetary, cycloidal, and linear actuator paths before committing to one architecture
Confirm encoder, brake, harness, protocol, and driver assumptions before ordering samples

Key Evaluation Matrix

Torque class coverage

Typical Range: Finger to hip-class joints
Why It Matters: A catalog buyer needs to compare multiple joint levels before the robot architecture is finalized.

Sample readiness

Typical Range: Standard models first, custom interfaces after fit check
Why It Matters: Early humanoid programs usually value speed and availability before final optimization.

Integration inputs

Typical Range: Voltage, protocol, encoder, brake, harness, and mounting data
Why It Matters: Actuator mismatch often comes from missing control-stack and mechanical-interface details.

Metric	Typical Range	Why It Matters
Torque class coverage	Finger to hip-class joints	A catalog buyer needs to compare multiple joint levels before the robot architecture is finalized.
Sample readiness	Standard models first, custom interfaces after fit check	Early humanoid programs usually value speed and availability before final optimization.
Integration inputs	Voltage, protocol, encoder, brake, harness, and mounting data	Actuator mismatch often comes from missing control-stack and mechanical-interface details.

Related RFQ Classes

Use these representative classes as shortlist anchors. Final quoted samples depend on confirmed drawings, torque-speed duty cycle, thermal assumptions, protocol, brake, encoder, and validation requirements.

HRA-C40-QDD

Compact QDD joint class

Torque Class

<50 Nm class

Form / Joint Fit

QDD rotary module

Wrist, neck, light ankle, compact lab axis

Output Window

2-4 Nm continuous

8-14 Nm peak

180-320 rpm output class

Interface Assumptions

OD 40-50 mm / short axial package

24-48 V DC

Absolute magnetic encoder

Sample Gate

Fast sample shortlist

Backdrivability, low-speed smoothness, current limit, and cable exit.

HRA-R55-ARM

Compact harmonic arm joint class

Torque Class

<50 Nm class

Form / Joint Fit

Integrated harmonic rotary module

Elbow, shoulder-light, wrist pitch/yaw

Output Window

6-15 Nm continuous

25-45 Nm peak

40-120 rpm output class

Interface Assumptions

OD 55-70 mm / hollow-shaft option

24-48 V DC

Absolute or dual encoder

Sample Gate

Model fit after envelope review

Backlash, cable-through routing, arm mass budget, and mirrored joint consistency.

HRA-R70-KNEE

Mid-load knee and ankle rotary class

Torque Class

50-150 Nm class

Form / Joint Fit

Integrated reducer rotary module

Knee-light, ankle pitch/roll, waist, shoulder-heavy

Output Window

18-45 Nm continuous

80-150 Nm peak

20-80 rpm output class

Interface Assumptions

OD 70-90 mm / reinforced output bearing

48-60 V DC

Dual encoder preferred

Sample Gate

Shortlist after robot mass and duty cycle

Thermal rise, overload duration, backlash, brake behavior, and shock load.

HRA-R95-HIP

Heavy hip actuator class

Torque Class

>150 Nm class

Form / Joint Fit

High-torque integrated rotary module

Hip pitch/roll/yaw, heavy knee, impact test rig

Output Window

60-120 Nm continuous

220-450 Nm peak

10-45 rpm output class

Interface Assumptions

OD 95-140 mm / high moment-load support

48-72 V DC

Dual encoder plus torque feedback option

Sample Gate

Engineering review before sample release

Continuous torque envelope, housing heat path, impact load, and bearing support.

HRA-FTM76-O

76 mm frameless outrunner class

Torque Class

<50 Nm class

Form / Joint Fit

Frameless torque motor

QDD wrist, ankle-light, shoulder-light, custom reducer input

Output Window

2.5-8 Nm continuous

10-28 Nm peak

KV and winding dependent

Interface Assumptions

OD 70-85 mm / ID and stack length by design

24-48 V DC

Encoder selected by housing design

Sample Gate

Motor-core shortlist after OD/ID review

Thermal path, winding, rotor inertia, magnet retention, and encoder space.

HRA-FTM110-O

110 mm high-torque frameless class

Torque Class

50-150 Nm class

Form / Joint Fit

Frameless torque motor

Knee, hip-light, shoulder-heavy, low-ratio reducer input

Output Window

10-30 Nm continuous

50-120 Nm peak

KV and thermal-path dependent

Interface Assumptions

OD 100-125 mm / large ID option

48-60 V DC

Absolute encoder or dual feedback

Sample Gate

DFM and thermal assumption review

Continuous torque, heat rejection, rotor inertia, and reducer coupling.

HRA-HS80-CBL

Hollow-shaft cable-through joint class

Torque Class

50-150 Nm class

Form / Joint Fit

Hollow-shaft rotary module

Shoulder, elbow, waist, wrist cable-through axes

Output Window

20-55 Nm continuous

80-160 Nm peak

20-75 rpm output class

Interface Assumptions

OD 80-110 mm / bore confirmed by cable bundle

48-60 V DC

Absolute encoder with bore clearance review

Sample Gate

Cable bundle and flange review required

Bore size, cable fatigue, connector placement, backlash, and output bearing load.

HRA-LA16-FINGER

Micro linear finger actuator class

Torque Class

<50 Nm class

Form / Joint Fit

Compact linear actuator

Finger, thumb, small linkage, lab end-effector

Output Window

40-120 N force

180-300 N short duration

5-30 mm stroke class

Interface Assumptions

Micro package / linkage dependent

12-24 V DC

Position feedback or limit sensing

Sample Gate

Mechanism review before sample selection

Stroke, side load, backlash, noise, heat, and end-stop behavior.

HRA-LA32-ROLLER

Compact roller-screw actuator class

Torque Class

50-150 Nm class

Form / Joint Fit

Roller-screw linear actuator

High-force linkage, test fixture, compact humanoid axis

Output Window

0.8-2.5 kN force

3-5 kN short duration

20-100 mm stroke class

Interface Assumptions

OD 32-50 mm / package length by stroke

24-48 V DC

Encoder or linear feedback option

Sample Gate

Load case and fixture review required

Force at speed, axial stiffness, side load, lubrication, and life-cycle duty.

HRA-DRV48-CANFD

48 V controller and encoder kit class

Torque Class

<50 Nm class

Form / Joint Fit

Controller and feedback kit

Bench bring-up, multi-axis prototype, matched actuator kit

Output Window

Current rating by actuator

Peak current duration by thermal design

Firmware and bus dependent

Interface Assumptions

Board, encoder, brake, and harness package

24-60 V DC

Absolute encoder, incremental encoder, or dual feedback

Sample Gate

Matched with selected actuator class

Current limit, firmware, protocol latency, encoder resolution, and harness pinout.

HRA-AF80-SMC

Axial-flux SMC prototype class

Torque Class

50-150 Nm class

Form / Joint Fit

Axial-flux motor prototype path

Hip-light, knee R&D, compact high-torque demonstrator

Output Window

Project-specific torque target

Project-specific overload target

Magnetic design dependent

Interface Assumptions

Short axial package / OD by torque goal

48-72 V DC target range

Resolver or absolute encoder review

Sample Gate

Concept review before tooling commitment

SMC grade, loss model, cooling path, torque density, and manufacturable core geometry.

Class	Form / Joint Fit	Output Window	Interface Assumptions	Sample Gate
HRA-C40-QDD Compact QDD joint class <50 Nm class	QDD rotary module Wrist, neck, light ankle, compact lab axis	2-4 Nm continuous 8-14 Nm peak 180-320 rpm output class	OD 40-50 mm / short axial package 24-48 V DC Absolute magnetic encoder	Fast sample shortlist: Backdrivability, low-speed smoothness, current limit, and cable exit.
HRA-R55-ARM Compact harmonic arm joint class <50 Nm class	Integrated harmonic rotary module Elbow, shoulder-light, wrist pitch/yaw	6-15 Nm continuous 25-45 Nm peak 40-120 rpm output class	OD 55-70 mm / hollow-shaft option 24-48 V DC Absolute or dual encoder	Model fit after envelope review: Backlash, cable-through routing, arm mass budget, and mirrored joint consistency.
HRA-R70-KNEE Mid-load knee and ankle rotary class 50-150 Nm class	Integrated reducer rotary module Knee-light, ankle pitch/roll, waist, shoulder-heavy	18-45 Nm continuous 80-150 Nm peak 20-80 rpm output class	OD 70-90 mm / reinforced output bearing 48-60 V DC Dual encoder preferred	Shortlist after robot mass and duty cycle: Thermal rise, overload duration, backlash, brake behavior, and shock load.
HRA-R95-HIP Heavy hip actuator class >150 Nm class	High-torque integrated rotary module Hip pitch/roll/yaw, heavy knee, impact test rig	60-120 Nm continuous 220-450 Nm peak 10-45 rpm output class	OD 95-140 mm / high moment-load support 48-72 V DC Dual encoder plus torque feedback option	Engineering review before sample release: Continuous torque envelope, housing heat path, impact load, and bearing support.
HRA-FTM76-O 76 mm frameless outrunner class <50 Nm class	Frameless torque motor QDD wrist, ankle-light, shoulder-light, custom reducer input	2.5-8 Nm continuous 10-28 Nm peak KV and winding dependent	OD 70-85 mm / ID and stack length by design 24-48 V DC Encoder selected by housing design	Motor-core shortlist after OD/ID review: Thermal path, winding, rotor inertia, magnet retention, and encoder space.
HRA-FTM110-O 110 mm high-torque frameless class 50-150 Nm class	Frameless torque motor Knee, hip-light, shoulder-heavy, low-ratio reducer input	10-30 Nm continuous 50-120 Nm peak KV and thermal-path dependent	OD 100-125 mm / large ID option 48-60 V DC Absolute encoder or dual feedback	DFM and thermal assumption review: Continuous torque, heat rejection, rotor inertia, and reducer coupling.
HRA-HS80-CBL Hollow-shaft cable-through joint class 50-150 Nm class	Hollow-shaft rotary module Shoulder, elbow, waist, wrist cable-through axes	20-55 Nm continuous 80-160 Nm peak 20-75 rpm output class	OD 80-110 mm / bore confirmed by cable bundle 48-60 V DC Absolute encoder with bore clearance review	Cable bundle and flange review required: Bore size, cable fatigue, connector placement, backlash, and output bearing load.
HRA-LA16-FINGER Micro linear finger actuator class <50 Nm class	Compact linear actuator Finger, thumb, small linkage, lab end-effector	40-120 N force 180-300 N short duration 5-30 mm stroke class	Micro package / linkage dependent 12-24 V DC Position feedback or limit sensing	Mechanism review before sample selection: Stroke, side load, backlash, noise, heat, and end-stop behavior.
HRA-LA32-ROLLER Compact roller-screw actuator class 50-150 Nm class	Roller-screw linear actuator High-force linkage, test fixture, compact humanoid axis	0.8-2.5 kN force 3-5 kN short duration 20-100 mm stroke class	OD 32-50 mm / package length by stroke 24-48 V DC Encoder or linear feedback option	Load case and fixture review required: Force at speed, axial stiffness, side load, lubrication, and life-cycle duty.
HRA-DRV48-CANFD 48 V controller and encoder kit class <50 Nm class	Controller and feedback kit Bench bring-up, multi-axis prototype, matched actuator kit	Current rating by actuator Peak current duration by thermal design Firmware and bus dependent	Board, encoder, brake, and harness package 24-60 V DC Absolute encoder, incremental encoder, or dual feedback	Matched with selected actuator class: Current limit, firmware, protocol latency, encoder resolution, and harness pinout.
HRA-AF80-SMC Axial-flux SMC prototype class 50-150 Nm class	Axial-flux motor prototype path Hip-light, knee R&D, compact high-torque demonstrator	Project-specific torque target Project-specific overload target Magnetic design dependent	Short axial package / OD by torque goal 48-72 V DC target range Resolver or absolute encoder review	Concept review before tooling commitment: SMC grade, loss model, cooling path, torque density, and manufacturable core geometry.

Evidence Before Sample PO

Product Evidence Path Before Ordering Samples

This product family should be evaluated with practical evidence before a first sample PO. The goal is to confirm fit, duty, control interface, validation target, and repeatability without pretending that every controlled drawing or test record is a public download.

Send joint map

Decisive Evidence for This Family

Joint map coverage across hip, knee, ankle, shoulder, elbow, wrist, neck, and hand axes.
Shortlist logic that separates rotary modules, frameless motors, linear actuators, controllers, reducers, and accessories.
Document path for each candidate class so the buyer does not compare unrelated actuator architectures.

Records to Request

Catalog shortlist summary with model family and RFQ class.
Basic datasheet, envelope image, and application fit note for each serious candidate.
Follow-up wiring, CAD, or inspection record only after the model family is narrowed.

Sample PO Gate

Use the catalog page to narrow the family first; send the joint map before requesting multiple unrelated samples.

No-Go Signal

Pause if the robot architecture is still too broad to separate leg, arm, hand, linear, and controller requirements.

01. Fit baseline

Buyer Input: Joint position, robot class, available OD / length / bore, mounting interface, cable exit, and first quantity.
Supplier Evidence: Candidate model family, envelope drawing, accessory boundary, and whether a standard model or OEM interface is required.
Hold Signal: At least one model path can be mapped to the mechanical envelope without inventing unconfirmed dimensions.
No-Go Signal: The inquiry only says "humanoid actuator" or "high torque motor" without joint, envelope, or quantity context.

02. Duty and thermal check

Buyer Input: Continuous output, peak output, peak duration, speed or stroke, cycle profile, current limit, and ambient assumption.
Supplier Evidence: Rated versus peak boundary, torque-speed or force-stroke explanation, temperature-rise note, and current-limit assumption.
Hold Signal: Selection is based on continuous duty and validation cycle, not peak output alone.
No-Go Signal: The sample decision depends on a peak rating while repeated gait, lift, grip, or force-control cycles are undefined.

03. Interface and control check

Buyer Input: Voltage bus, protocol, controller location, encoder, brake, pinout, cable length, and firmware integration boundary.
Supplier Evidence: Wiring / protocol note, controller compatibility, brake / encoder assumption, and connector or harness options.
Hold Signal: Electrical and control interfaces are clear enough for a bench test without late adapter redesign.
No-Go Signal: Mechanical fit is accepted but protocol, feedback, brake, or harness integration is still ambiguous.

04. Sample validation check

Buyer Input: The specific pass / fail test for the first sample: backlash, thermal rise, noise, force response, impact, or stroke repeatability.
Supplier Evidence: Focused inspection note, test record type, revision baseline, and which result should be checked by the buyer after receipt.
Hold Signal: Both sides know what evidence will decide whether the sample can move toward pilot planning.
No-Go Signal: The sample PO is placed without a named acceptance check or revision trace.

05. Pilot continuity check

Buyer Input: Pilot quantity, repeat-order forecast, inspection expectation, packaging / shipping limits, Incoterm, and destination.
Supplier Evidence: Repeat-lot change-control path, outgoing inspection scope, packaging baseline, and commercial delivery assumption.
Hold Signal: The accepted sample can be repeated without silent model, drawing, accessory, or firmware drift.
No-Go Signal: The project treats a one-off sample as proof of supply readiness without defining repeat-order controls.

Gate	Buyer Input	Supplier Evidence	Hold Signal	No-Go Signal
01. Fit baseline	Joint position, robot class, available OD / length / bore, mounting interface, cable exit, and first quantity.	Candidate model family, envelope drawing, accessory boundary, and whether a standard model or OEM interface is required.	At least one model path can be mapped to the mechanical envelope without inventing unconfirmed dimensions.	The inquiry only says "humanoid actuator" or "high torque motor" without joint, envelope, or quantity context.
02. Duty and thermal check	Continuous output, peak output, peak duration, speed or stroke, cycle profile, current limit, and ambient assumption.	Rated versus peak boundary, torque-speed or force-stroke explanation, temperature-rise note, and current-limit assumption.	Selection is based on continuous duty and validation cycle, not peak output alone.	The sample decision depends on a peak rating while repeated gait, lift, grip, or force-control cycles are undefined.
03. Interface and control check	Voltage bus, protocol, controller location, encoder, brake, pinout, cable length, and firmware integration boundary.	Wiring / protocol note, controller compatibility, brake / encoder assumption, and connector or harness options.	Electrical and control interfaces are clear enough for a bench test without late adapter redesign.	Mechanical fit is accepted but protocol, feedback, brake, or harness integration is still ambiguous.
04. Sample validation check	The specific pass / fail test for the first sample: backlash, thermal rise, noise, force response, impact, or stroke repeatability.	Focused inspection note, test record type, revision baseline, and which result should be checked by the buyer after receipt.	Both sides know what evidence will decide whether the sample can move toward pilot planning.	The sample PO is placed without a named acceptance check or revision trace.
05. Pilot continuity check	Pilot quantity, repeat-order forecast, inspection expectation, packaging / shipping limits, Incoterm, and destination.	Repeat-lot change-control path, outgoing inspection scope, packaging baseline, and commercial delivery assumption.	The accepted sample can be repeated without silent model, drawing, accessory, or firmware drift.	The project treats a one-off sample as proof of supply readiness without defining repeat-order controls.

Curves and Structure Evidence

What to Request Before Trusting the Sample Data

Public pages can introduce the actuator family, but final sample approval should be based on the records behind the rating. Use this checklist to ask for performance envelopes, duty assumptions, and section-view evidence without treating unverified marketing numbers as engineering proof.

Performance Curve Evidence

Torque-speed or force-speed envelope

Buyer Question: Does the actuator stay inside the usable output window at the target joint speed, not only at stall or no-load speed?
Input to Provide: Target continuous output, peak output, required speed or stroke rate, bus voltage, and controller current limit.
Supplier Record: Torque-speed, force-speed, or model summary with rated and short-duration peak boundaries stated separately.
Decision Signal: Move forward only when continuous output, peak duration, and speed are judged together for the sample duty.

Thermal rise and duty-cycle basis

Buyer Question: Will repeated gait, lift, grip, or force-control cycles push the motor, reducer, driver, or housing into thermal saturation?
Input to Provide: Cycle profile, ambient assumption, cooling path, enclosure condition, duty ratio, and allowable surface or winding temperature.
Supplier Record: Temperature-rise note, duty-cycle assumption, thermal path explanation, or sample test record tied to the selected class.
Decision Signal: Treat peak torque claims as incomplete until the repeated-duty thermal boundary is clear.

Overload duration and recovery limit

Buyer Question: How long can the module tolerate impact, squat recovery, step correction, or grasp overload before derating is required?
Input to Provide: Expected overload multiple, duration, frequency, robot mass or payload, and pass / fail recovery behavior.
Supplier Record: Peak duration note, overload inspection basis, brake behavior, bearing support comment, or derating boundary.
Decision Signal: Use this as a hold gate for hip, knee, ankle, and force-control samples where impact or overload is material.

Control response and feedback loop basis

Buyer Question: Can the motor, encoder, driver, brake, and protocol support the intended torque, position, or impedance-control behavior?
Input to Provide: Control mode, update rate expectation, protocol, encoder requirement, current limit, brake behavior, and bench-test setup.
Supplier Record: Controller compatibility note, encoder and brake assumption, wiring / protocol record, or matched kit recommendation.
Decision Signal: Do not separate mechanical sample approval from control-stack compatibility.

Evidence	Buyer Question	Input to Provide	Supplier Record	Decision Signal
Torque-speed or force-speed envelope	Does the actuator stay inside the usable output window at the target joint speed, not only at stall or no-load speed?	Target continuous output, peak output, required speed or stroke rate, bus voltage, and controller current limit.	Torque-speed, force-speed, or model summary with rated and short-duration peak boundaries stated separately.	Move forward only when continuous output, peak duration, and speed are judged together for the sample duty.
Thermal rise and duty-cycle basis	Will repeated gait, lift, grip, or force-control cycles push the motor, reducer, driver, or housing into thermal saturation?	Cycle profile, ambient assumption, cooling path, enclosure condition, duty ratio, and allowable surface or winding temperature.	Temperature-rise note, duty-cycle assumption, thermal path explanation, or sample test record tied to the selected class.	Treat peak torque claims as incomplete until the repeated-duty thermal boundary is clear.
Overload duration and recovery limit	How long can the module tolerate impact, squat recovery, step correction, or grasp overload before derating is required?	Expected overload multiple, duration, frequency, robot mass or payload, and pass / fail recovery behavior.	Peak duration note, overload inspection basis, brake behavior, bearing support comment, or derating boundary.	Use this as a hold gate for hip, knee, ankle, and force-control samples where impact or overload is material.
Control response and feedback loop basis	Can the motor, encoder, driver, brake, and protocol support the intended torque, position, or impedance-control behavior?	Control mode, update rate expectation, protocol, encoder requirement, current limit, brake behavior, and bench-test setup.	Controller compatibility note, encoder and brake assumption, wiring / protocol record, or matched kit recommendation.	Do not separate mechanical sample approval from control-stack compatibility.

Structure and Interface Evidence

Envelope drawing and CAD revision

Inspect For: OD, ID, axial length, flange, mounting bolt circle, output plane, cable exit, connector sweep, and assembly clearance.
Input to Provide: Robot joint envelope, CAD revision, mounting constraint, cable direction, and any forbidden volume.
Supplier Record: 2D envelope, controlled CAD path, drawing revision note, and interface boundary for the candidate class.
Boundary: Public pages can show selection context; precise CAD should stay controlled until the model and project stage are clear.

Internal stack or section-view review

Inspect For: Motor, reducer, encoder, brake, bearing support, hollow routing, sealing surface, and structural heat path.
Input to Provide: Target joint, load path, shock expectation, harness route, brake need, and feedback architecture.
Supplier Record: Exploded-view reference, section-view note, component boundary, or engineering review comment for the selected sample path.
Boundary: Use this to identify integration risks without implying that every supplier drawing can be published openly.

Backlash, stiffness, and bearing support basis

Inspect For: Reducer type, output bearing support, moment-load path, backlash target, compliance behavior, and repeatability risk.
Input to Provide: Joint position, expected moment load, precision need, force-control target, and test that will decide sample acceptance.
Supplier Record: Backlash record, stiffness note, bearing support statement, or application-specific inspection scope.
Boundary: Especially important for leg modules, hollow-shaft modules, and compact arm joints where package size hides mechanical risk.

Harness, connector, and serviceability path

Inspect For: Cable bend radius, connector orientation, pinout, strain relief, service loop, and whether the joint can be assembled repeatedly.
Input to Provide: Cable bundle, connector preference, controller location, service access limit, and repeat-order accessory expectation.
Supplier Record: Wiring / protocol note, pinout baseline, harness option, accessory revision, or OEM interface recommendation.
Boundary: A sample that fits mechanically can still fail the project if harness and connector assumptions are late.

Evidence	Inspect For	Input to Provide	Supplier Record	Boundary
Envelope drawing and CAD revision	OD, ID, axial length, flange, mounting bolt circle, output plane, cable exit, connector sweep, and assembly clearance.	Robot joint envelope, CAD revision, mounting constraint, cable direction, and any forbidden volume.	2D envelope, controlled CAD path, drawing revision note, and interface boundary for the candidate class.	Public pages can show selection context; precise CAD should stay controlled until the model and project stage are clear.
Internal stack or section-view review	Motor, reducer, encoder, brake, bearing support, hollow routing, sealing surface, and structural heat path.	Target joint, load path, shock expectation, harness route, brake need, and feedback architecture.	Exploded-view reference, section-view note, component boundary, or engineering review comment for the selected sample path.	Use this to identify integration risks without implying that every supplier drawing can be published openly.
Backlash, stiffness, and bearing support basis	Reducer type, output bearing support, moment-load path, backlash target, compliance behavior, and repeatability risk.	Joint position, expected moment load, precision need, force-control target, and test that will decide sample acceptance.	Backlash record, stiffness note, bearing support statement, or application-specific inspection scope.	Especially important for leg modules, hollow-shaft modules, and compact arm joints where package size hides mechanical risk.
Harness, connector, and serviceability path	Cable bend radius, connector orientation, pinout, strain relief, service loop, and whether the joint can be assembled repeatedly.	Cable bundle, connector preference, controller location, service access limit, and repeat-order accessory expectation.	Wiring / protocol note, pinout baseline, harness option, accessory revision, or OEM interface recommendation.	A sample that fits mechanically can still fail the project if harness and connector assumptions are late.

RFQ Checklist

Target joint position, continuous torque, peak torque, output speed, and duty cycle
Bus voltage preference: 24 V, 48 V, or 60 V DC
Mechanical envelope: outer diameter, axial length, hollow-shaft need, flange, and output interface
Communication and control requirement: CAN, CAN FD, EtherCAT, RS485, or PWM
Prototype quantity, expected annual volume, destination country, and requested sample date

Risk Controls

The selected actuator has enough peak torque but overheats in repeated gait cycles: Quote against continuous torque, duty cycle, ambient condition, heat path, and current limit, not peak torque alone.
A sample cannot be mounted inside the customer joint shell: Review CAD envelope, output flange, cable exit, connector location, and hollow-shaft routing before shipment.

Document Request Path for This Product Family

Treat this page as the selection context for datasheets, drawings, CAD access, wiring notes, and sample records. Controlled files should be requested with a candidate model, integration stage, and revision baseline.

Public selection packet

Best Timing: Early shortlist
Documents: Datasheet, model summary, basic envelope image, and application fit notes.
Input to Include: Target joint, output window, voltage / protocol assumption, and quantity direction.
Boundary: Used for selection only; it is not a controlled drawing or final project guarantee.

RFQ-qualified engineering packet

Best Timing: Before sample quote
Documents: 2D envelope, interface notes, wiring / protocol note, accessory list, and sample gate.
Input to Include: Drawing revision, mechanical envelope, controller stack, and validation priority.
Boundary: Provided after the model path is clear; it may still exclude editable CAD or supplier-controlled internals.

NDA-controlled CAD packet

Best Timing: Before mechanical freeze
Documents: STEP / CAD path, pinout details, revision-controlled drawings, and customization notes.
Input to Include: Confirmed candidate model, buyer entity, project scope, and NDA path if needed.
Boundary: Not an automatic website download; controlled files depend on model, OEM scope, and permission.

Sample validation packet

Best Timing: Before pilot decision
Documents: Inspection note, focused test result, revision record, and packing / shipment baseline.
Input to Include: Accepted sample scope, test fixture context, pass / fail priority, and pilot quantity.
Boundary: Generic records may not answer the application risk; request the exact test that matters.

Packet	Best Timing	Documents	Input to Include	Boundary
Public selection packet	Early shortlist	Datasheet, model summary, basic envelope image, and application fit notes.	Target joint, output window, voltage / protocol assumption, and quantity direction.	Used for selection only; it is not a controlled drawing or final project guarantee.
RFQ-qualified engineering packet	Before sample quote	2D envelope, interface notes, wiring / protocol note, accessory list, and sample gate.	Drawing revision, mechanical envelope, controller stack, and validation priority.	Provided after the model path is clear; it may still exclude editable CAD or supplier-controlled internals.
NDA-controlled CAD packet	Before mechanical freeze	STEP / CAD path, pinout details, revision-controlled drawings, and customization notes.	Confirmed candidate model, buyer entity, project scope, and NDA path if needed.	Not an automatic website download; controlled files depend on model, OEM scope, and permission.
Sample validation packet	Before pilot decision	Inspection note, focused test result, revision record, and packing / shipment baseline.	Accepted sample scope, test fixture context, pass / fail priority, and pilot quantity.	Generic records may not answer the application risk; request the exact test that matters.

Request matching documents

Product Gallery

Reference visual: Integrated humanoid robot joint actuator module

Reference visual: Compact humanoid robot joint module for prototype sourcing

Buyer FAQ

Is this site for fully custom actuators or standard catalog models?

The first positioning is catalog-style standard sourcing. We help buyers select available actuator families quickly, then handle interface customization after the baseline model is chosen.

Can you quote several torque classes at the same time?

Yes. Send the joint map for your robot and we can return candidate actuator classes for hip, knee, ankle, shoulder, elbow, wrist, and neck positions.

Procurement guide

Read Before Finalizing the Product Shortlist

Use the procurement guide when this product family is entering comparison, RFQ, or sample review. It translates page-level claims into torque-speed, interface, evidence, and supplier-readiness questions.

Open guide

Sourcing Humanoid Robot Actuators in 2026

A buyer-side guide for pre-modular humanoid actuator sourcing: selection risk, evidence requests, sample readiness, and pilot supply controls.

Use it to check

Torque-speed, force-stroke, or actuator-envelope assumptions
Datasheet, CAD, wiring, and validation-record request scope
Sample PO hold signals before controlled files are released

Next sourcing step

01 Catalog shortlist

Then validate the application fit

After a product family is shortlisted, validate the joint load case, sample gate, and evidence boundary before custom files or pilot timing enter the discussion.

Open validation plan Send catalog RFQ

Related Resources

Inquiry Email

[email protected]

Subject: RFQ Inquiry - Humanoid Robot Actuator Catalog

Email app

This inquiry started from a product family page. Keep the request anchored to model-family fit, interface assumptions, and sample evidence. Source context: Humanoid Robot Actuator Catalog.

Instant Chat

+8618857971991

Chat on WhatsApp

Best for quick model-fit questions before a full RFQ email.

Reference visuals, controlled records on request

Key Evaluation Matrix

Torque class coverage

Typical Range: Finger to hip-class joints
Why It Matters: A catalog buyer needs to compare multiple joint levels before the robot architecture is finalized.

Sample readiness

Typical Range: Standard models first, custom interfaces after fit check
Why It Matters: Early humanoid programs usually value speed and availability before final optimization.

Integration inputs

Typical Range: Voltage, protocol, encoder, brake, harness, and mounting data
Why It Matters: Actuator mismatch often comes from missing control-stack and mechanical-interface details.

Metric	Typical Range	Why It Matters
Torque class coverage	Finger to hip-class joints	A catalog buyer needs to compare multiple joint levels before the robot architecture is finalized.
Sample readiness	Standard models first, custom interfaces after fit check	Early humanoid programs usually value speed and availability before final optimization.
Integration inputs	Voltage, protocol, encoder, brake, harness, and mounting data	Actuator mismatch often comes from missing control-stack and mechanical-interface details.

Class

Form / Joint Fit

Output Window

Interface Assumptions

Sample Gate

HRA-C40-QDD

Compact QDD joint class

<50 Nm class

QDD rotary module
Wrist, neck, light ankle, compact lab axis

2-4 Nm continuous
8-14 Nm peak
180-320 rpm output class

OD 40-50 mm / short axial package
24-48 V DC
Absolute magnetic encoder

Fast sample shortlist: Backdrivability, low-speed smoothness, current limit, and cable exit.

HRA-R55-ARM

Compact harmonic arm joint class

<50 Nm class

Integrated harmonic rotary module
Elbow, shoulder-light, wrist pitch/yaw

6-15 Nm continuous
25-45 Nm peak
40-120 rpm output class

OD 55-70 mm / hollow-shaft option
24-48 V DC
Absolute or dual encoder

Model fit after envelope review: Backlash, cable-through routing, arm mass budget, and mirrored joint consistency.

HRA-R70-KNEE

Mid-load knee and ankle rotary class

50-150 Nm class

Integrated reducer rotary module
Knee-light, ankle pitch/roll, waist, shoulder-heavy

18-45 Nm continuous
80-150 Nm peak
20-80 rpm output class

OD 70-90 mm / reinforced output bearing
48-60 V DC
Dual encoder preferred

Shortlist after robot mass and duty cycle: Thermal rise, overload duration, backlash, brake behavior, and shock load.

HRA-R95-HIP

Heavy hip actuator class

>150 Nm class

High-torque integrated rotary module
Hip pitch/roll/yaw, heavy knee, impact test rig

60-120 Nm continuous
220-450 Nm peak
10-45 rpm output class

OD 95-140 mm / high moment-load support
48-72 V DC
Dual encoder plus torque feedback option

Engineering review before sample release: Continuous torque envelope, housing heat path, impact load, and bearing support.

HRA-FTM76-O

76 mm frameless outrunner class

<50 Nm class

Frameless torque motor
QDD wrist, ankle-light, shoulder-light, custom reducer input

2.5-8 Nm continuous
10-28 Nm peak
KV and winding dependent

OD 70-85 mm / ID and stack length by design
24-48 V DC
Encoder selected by housing design

Motor-core shortlist after OD/ID review: Thermal path, winding, rotor inertia, magnet retention, and encoder space.

HRA-FTM110-O

110 mm high-torque frameless class

50-150 Nm class

Frameless torque motor
Knee, hip-light, shoulder-heavy, low-ratio reducer input

10-30 Nm continuous
50-120 Nm peak
KV and thermal-path dependent

OD 100-125 mm / large ID option
48-60 V DC
Absolute encoder or dual feedback

DFM and thermal assumption review: Continuous torque, heat rejection, rotor inertia, and reducer coupling.

HRA-HS80-CBL

Hollow-shaft cable-through joint class

50-150 Nm class

Hollow-shaft rotary module
Shoulder, elbow, waist, wrist cable-through axes

20-55 Nm continuous
80-160 Nm peak
20-75 rpm output class

OD 80-110 mm / bore confirmed by cable bundle
48-60 V DC
Absolute encoder with bore clearance review

Cable bundle and flange review required: Bore size, cable fatigue, connector placement, backlash, and output bearing load.

HRA-LA16-FINGER

Micro linear finger actuator class

<50 Nm class

Compact linear actuator
Finger, thumb, small linkage, lab end-effector

40-120 N force
180-300 N short duration
5-30 mm stroke class

Micro package / linkage dependent
12-24 V DC
Position feedback or limit sensing

Mechanism review before sample selection: Stroke, side load, backlash, noise, heat, and end-stop behavior.

HRA-LA32-ROLLER

Compact roller-screw actuator class

50-150 Nm class

Roller-screw linear actuator
High-force linkage, test fixture, compact humanoid axis

0.8-2.5 kN force
3-5 kN short duration
20-100 mm stroke class

OD 32-50 mm / package length by stroke
24-48 V DC
Encoder or linear feedback option

Load case and fixture review required: Force at speed, axial stiffness, side load, lubrication, and life-cycle duty.

HRA-DRV48-CANFD

48 V controller and encoder kit class

<50 Nm class

Controller and feedback kit
Bench bring-up, multi-axis prototype, matched actuator kit

Current rating by actuator
Peak current duration by thermal design
Firmware and bus dependent

Board, encoder, brake, and harness package
24-60 V DC
Absolute encoder, incremental encoder, or dual feedback

Matched with selected actuator class: Current limit, firmware, protocol latency, encoder resolution, and harness pinout.

HRA-AF80-SMC

Axial-flux SMC prototype class

50-150 Nm class

Axial-flux motor prototype path
Hip-light, knee R&D, compact high-torque demonstrator

Project-specific torque target
Project-specific overload target
Magnetic design dependent

Short axial package / OD by torque goal
48-72 V DC target range
Resolver or absolute encoder review

Concept review before tooling commitment: SMC grade, loss model, cooling path, torque density, and manufacturable core geometry.

Gate

Buyer Input

Supplier Evidence

Hold Signal

No-Go Signal

01. Fit baseline

Joint position, robot class, available OD / length / bore, mounting interface, cable exit, and first quantity.

Candidate model family, envelope drawing, accessory boundary, and whether a standard model or OEM interface is required.

At least one model path can be mapped to the mechanical envelope without inventing unconfirmed dimensions.

The inquiry only says "humanoid actuator" or "high torque motor" without joint, envelope, or quantity context.

02. Duty and thermal check

Continuous output, peak output, peak duration, speed or stroke, cycle profile, current limit, and ambient assumption.

Rated versus peak boundary, torque-speed or force-stroke explanation, temperature-rise note, and current-limit assumption.

Selection is based on continuous duty and validation cycle, not peak output alone.

The sample decision depends on a peak rating while repeated gait, lift, grip, or force-control cycles are undefined.

03. Interface and control check

Voltage bus, protocol, controller location, encoder, brake, pinout, cable length, and firmware integration boundary.

Wiring / protocol note, controller compatibility, brake / encoder assumption, and connector or harness options.

Electrical and control interfaces are clear enough for a bench test without late adapter redesign.

Mechanical fit is accepted but protocol, feedback, brake, or harness integration is still ambiguous.

04. Sample validation check

The specific pass / fail test for the first sample: backlash, thermal rise, noise, force response, impact, or stroke repeatability.

Focused inspection note, test record type, revision baseline, and which result should be checked by the buyer after receipt.

Both sides know what evidence will decide whether the sample can move toward pilot planning.

The sample PO is placed without a named acceptance check or revision trace.

05. Pilot continuity check

Pilot quantity, repeat-order forecast, inspection expectation, packaging / shipping limits, Incoterm, and destination.

Repeat-lot change-control path, outgoing inspection scope, packaging baseline, and commercial delivery assumption.

The accepted sample can be repeated without silent model, drawing, accessory, or firmware drift.

The project treats a one-off sample as proof of supply readiness without defining repeat-order controls.

Evidence

Buyer Question

Input to Provide

Supplier Record

Decision Signal

Torque-speed or force-speed envelope

Does the actuator stay inside the usable output window at the target joint speed, not only at stall or no-load speed?

Target continuous output, peak output, required speed or stroke rate, bus voltage, and controller current limit.

Torque-speed, force-speed, or model summary with rated and short-duration peak boundaries stated separately.

Move forward only when continuous output, peak duration, and speed are judged together for the sample duty.

Thermal rise and duty-cycle basis

Will repeated gait, lift, grip, or force-control cycles push the motor, reducer, driver, or housing into thermal saturation?

Cycle profile, ambient assumption, cooling path, enclosure condition, duty ratio, and allowable surface or winding temperature.

Temperature-rise note, duty-cycle assumption, thermal path explanation, or sample test record tied to the selected class.

Treat peak torque claims as incomplete until the repeated-duty thermal boundary is clear.

Overload duration and recovery limit

How long can the module tolerate impact, squat recovery, step correction, or grasp overload before derating is required?

Expected overload multiple, duration, frequency, robot mass or payload, and pass / fail recovery behavior.

Peak duration note, overload inspection basis, brake behavior, bearing support comment, or derating boundary.

Use this as a hold gate for hip, knee, ankle, and force-control samples where impact or overload is material.

Control response and feedback loop basis

Can the motor, encoder, driver, brake, and protocol support the intended torque, position, or impedance-control behavior?

Control mode, update rate expectation, protocol, encoder requirement, current limit, brake behavior, and bench-test setup.

Controller compatibility note, encoder and brake assumption, wiring / protocol record, or matched kit recommendation.

Do not separate mechanical sample approval from control-stack compatibility.

Evidence

Inspect For

Input to Provide

Supplier Record

Boundary

Envelope drawing and CAD revision

OD, ID, axial length, flange, mounting bolt circle, output plane, cable exit, connector sweep, and assembly clearance.

Robot joint envelope, CAD revision, mounting constraint, cable direction, and any forbidden volume.

2D envelope, controlled CAD path, drawing revision note, and interface boundary for the candidate class.

Public pages can show selection context; precise CAD should stay controlled until the model and project stage are clear.

Internal stack or section-view review

Motor, reducer, encoder, brake, bearing support, hollow routing, sealing surface, and structural heat path.

Target joint, load path, shock expectation, harness route, brake need, and feedback architecture.

Exploded-view reference, section-view note, component boundary, or engineering review comment for the selected sample path.

Use this to identify integration risks without implying that every supplier drawing can be published openly.

Backlash, stiffness, and bearing support basis

Reducer type, output bearing support, moment-load path, backlash target, compliance behavior, and repeatability risk.

Joint position, expected moment load, precision need, force-control target, and test that will decide sample acceptance.

Backlash record, stiffness note, bearing support statement, or application-specific inspection scope.

Especially important for leg modules, hollow-shaft modules, and compact arm joints where package size hides mechanical risk.

Harness, connector, and serviceability path

Cable bend radius, connector orientation, pinout, strain relief, service loop, and whether the joint can be assembled repeatedly.

Cable bundle, connector preference, controller location, service access limit, and repeat-order accessory expectation.

Wiring / protocol note, pinout baseline, harness option, accessory revision, or OEM interface recommendation.

A sample that fits mechanically can still fail the project if harness and connector assumptions are late.

RFQ Checklist

Target joint position, continuous torque, peak torque, output speed, and duty cycle

Bus voltage preference: 24 V, 48 V, or 60 V DC

Mechanical envelope: outer diameter, axial length, hollow-shaft need, flange, and output interface

Communication and control requirement: CAN, CAN FD, EtherCAT, RS485, or PWM

Prototype quantity, expected annual volume, destination country, and requested sample date

Risk Controls

The selected actuator has enough peak torque but overheats in repeated gait cycles: Quote against continuous torque, duty cycle, ambient condition, heat path, and current limit, not peak torque alone.

A sample cannot be mounted inside the customer joint shell: Review CAD envelope, output flange, cable exit, connector location, and hollow-shaft routing before shipment.

Packet

Best Timing

Documents

Input to Include

Boundary

Public selection packet

Early shortlist

Datasheet, model summary, basic envelope image, and application fit notes.

Target joint, output window, voltage / protocol assumption, and quantity direction.

Used for selection only; it is not a controlled drawing or final project guarantee.

RFQ-qualified engineering packet

Before sample quote

2D envelope, interface notes, wiring / protocol note, accessory list, and sample gate.

Drawing revision, mechanical envelope, controller stack, and validation priority.

Provided after the model path is clear; it may still exclude editable CAD or supplier-controlled internals.

NDA-controlled CAD packet

Before mechanical freeze

STEP / CAD path, pinout details, revision-controlled drawings, and customization notes.

Confirmed candidate model, buyer entity, project scope, and NDA path if needed.

Not an automatic website download; controlled files depend on model, OEM scope, and permission.

Sample validation packet

Before pilot decision

Inspection note, focused test result, revision record, and packing / shipment baseline.

Accepted sample scope, test fixture context, pass / fail priority, and pilot quantity.

Generic records may not answer the application risk; request the exact test that matters.

Buyer FAQ

Is this site for fully custom actuators or standard catalog models?

The first positioning is catalog-style standard sourcing. We help buyers select available actuator families quickly, then handle interface customization after the baseline model is chosen.

Can you quote several torque classes at the same time?

Yes. Send the joint map for your robot and we can return candidate actuator classes for hip, knee, ankle, shoulder, elbow, wrist, and neck positions.