Dynamic robot actuator

Abstract

A robotic actuator includes a mechanical ground, a motor coupled to the mechanical ground, a gearbox, and an actuator output coupled to an output of the gearbox. The gearbox includes a first plurality of planetary gears, a sun gear coupled to the motor and configured to transmit torque produced by the motor to the first plurality of planetary gears, a second plurality of planetary gears coaxially coupled to the first plurality of planetary gears, and a ring gear coupled to the second plurality of planetary gears. Each planetary gear of the first plurality of planetary gears has a larger diameter than each planetary gear of the second plurality of planetary gears.