机器人场景

Full-Size Humanoid Robot Joint Actuator Solution

humanoid robotfull-body jointrobot actuator solution
Full-Size Humanoid Robot Joint Actuator Solution

Solution Overview

EYOU Robot provides full-body joint actuators for full-size humanoid robots, with proven mass-production capability, stable performance, and competitive pricing. We have established partnerships with a large number of humanoid robot companies both in China and internationally.

Planetary Joints — Application by Body Part

ModelApplicable Joint
PP05Wrist, facial expression
PP08Elbow, neck rotation
PP08DElbow, neck, ankle
PP11Shoulder, thigh
PP11DShoulder, thigh, knee
PP11LArm, shoulder

Harmonic Joints — Application by Body Part

ModelApplicable Joint
PH08Elbow, neck, ankle
PH11Shoulder, knee
PH14Thigh
PH17Waist
PH20Collaborative robot arm
PH25Hip

Our Advantages

  • Full-body joint coverage: Planetary + harmonic series covering every joint from facial expressions to lower limbs
  • Cost-effective: Mass-production scale brings cost advantages, with partnerships across domestic and international humanoid robot companies
  • High performance: Proprietary FPGA full-hardware FOC control with dual absolute encoders for stable operation
  • Research to production: Full support from prototype validation to volume delivery

Software Support

The robot uses a CAN 2.0A bus at 1MHz. Controllers can be MCU, Raspberry Pi, or PC-based. The UI is decoupled from the controller and can be deployed on Android or other smart devices, communicating via network (WiFi/Socket). Motion capture wearable devices are also supported for teleoperation. Ubuntu and Windows host software is provided for quick validation. A C/C++ API is available for integration with Linux (ROS) and Windows systems to enable fast product deployment.

  • Remote deployment
  • Motion capture device support
  • Low-latency real-time motion mirroring
  • Force feedback control

FAQ

How many joint actuators does a full-size humanoid robot need?

A full-size humanoid robot typically requires 20 to 40+ rotary joint actuators depending on the design. Upper-body joints (neck, shoulders, elbows, wrists) generally use smaller, precision-focused actuators, while lower-body joints (hips, knees, ankles) require larger actuators with higher torque output. EYOU Robot offers planetary models from PP05 (wrist-scale) to PP11L (shoulder/arm-scale) and harmonic models from PH08 (elbow-scale) to PH25 (hip-scale), covering the full range of joint positions on a humanoid body.

What is the difference between planetary and harmonic joints in a humanoid robot?

Planetary joints use planetary gear reducers — they offer high torque density and durability, making them well suited for joints on performance-type humanoid robots where cost efficiency and impact resistance matter, such as elbows, shoulders, and knees. Harmonic joints use strain wave (harmonic drive) reducers — they provide near-zero backlash and higher positioning accuracy, making them ideal for joints requiring precise motion control. Many full-size humanoid robots combine both types: planetary for high-load or cost-sensitive joints, harmonic for precision-critical joints.

What communication protocol do EYOU Robot joint actuators use?

EYOU Robot planetary joints (PP series) use CAN communication. Harmonic joints (PH series) support CANopen and EtherCAT protocols. The upgraded PHU Enhanced series supports EtherCAT and CAN FD. All series are compatible with CAN 2.0A bus architecture at 1MHz, allowing daisy-chain wiring across multiple joints on a single bus. Protocol switching between CANopen and CAN custom is available by contacting the manufacturer.

Can EYOU Robot supply actuators for both prototype development and mass production?

Yes. EYOU Robot supports the full cycle from single-unit prototype orders to volume production. In 2025, we delivered approximately 95,000 joint module sets, backed by China’s first automated joint production line. We work with both early-stage robotics startups doing R&D validation and established companies running production lines. Dedicated production lines can be arranged for large-volume customers to ensure stable supply.

What software and control options are available for integration?

EYOU Robot provides Ubuntu and Windows host software for quick motor testing and parameter tuning. For product development, a C/C++ SDK is available for integration with Linux (including ROS) and Windows systems. The control architecture supports MCU, Raspberry Pi, and PC-based controllers. The UI layer is decoupled and can be deployed on Android or other smart devices via WiFi or Socket. Motion capture wearable devices and force feedback teleoperation are also supported for remote control scenarios.