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L2-2. 6-Models Actuator for Humanoid

3 Core Tech. 6 HFA Models.
Full-Body Humanoid Architecture

By combining 3K Compound Gear, AFPM motor topology, and Smart Drive technology, just 6 standard models power the entire humanoid robot.

3K Compound Gear

Backdrivability <1Nm, ultra-low backlash precision gear

AFPM Pancake

30% smaller volume and 30% higher torque density

L2-2. 6-Models Actuator for Humanoid

3 Core Tech. 6 HFA Models.

★ Core Joint Architecture Callout: 5 AFPM + 1 RFPM

5 high-load joints feature Axial Flux Pancake Motors (AFPM), while 1 slim wrist/neck joint features Inner Rotor Motor (RFPM) for full-body optimization.

★ AFPM (Axial Flux Pancake) HFA-A

HFA100A-300P51

[ Topology: AFPM (Axial Flux Pancake) ] • Shoulder P/Y (Shoulder Pitch/Yaw)

A 100Nm-class axial-flux HFA actuator integrating an ultra-high-density AFPM structure with a 3K compound gear for high-load upper-body joints.

Nominal Tq
100 Nm
Peak Tq
300 Nm
Speed
54 rpm
Gear Ratio
51:1
Key Architecture Features
AFPM 30% higher torque density Backdrive torque < 1Nm Drive+ C_0750 mapping

Full-Body 6-Models Spec Matrix

5 AFPM + 1 RFPM

Comparison of the 6 standard actuator models and motor topology for full-body humanoid drive

Standard Lineup
Model & Motor Topology (Highlighted) Joint Position Nominal Tq Peak Tq Diameter / Weight Drive Mapping
HFA100A-300P51
★ AFPM (Axial Flux Pancake)
 Shoulder P/Y (Shoulder Pitch/Yaw) 100 Nm 300 Nm Ø108 x L74.1 mm / 2.16kg C_0750
HFA90A-165P51
★ AFPM (Axial Flux Pancake)
 Shoulder R, Elbow, Hip Yaw 55 Nm 165 Nm Ø97 x L68.4 mm / 1.5kg C_0600
HFA60I-60P51
★ RFPM (Inner Rotor Slim)
 Wrist, Neck 20 Nm 60 Nm Ø62 x L68.65 mm / 0.56kg C_0300
HFA120A-255P22
★ AFPM (Axial Flux Pancake)
 Waist P/R (Waist Pitch/Roll) 85 Nm 255 Nm Ø128 x L80.0 mm / 2.6kg C_1500
HFA150A-348P22
★ AFPM (Axial Flux Pancake)
 Hip Pitch, Knee 116 Nm 348 Nm Ø150 x L100.0 mm / 3kg C_2000
HFA90A-102P30
★ AFPM (Axial Flux Pancake)
 Hip R/Y, Ankle 34 Nm 102 Nm Ø97 x L68.4 mm / 1.5kg C_0600