Actuator atlas

Inside a humanoid

A humanoid is forty-plus actuated axes, and the gearbox inside each one follows the job the joint does. Select a joint to see what the joint must survive, and which actuator route each platform takes there.

Humanoid joint map / Unitree G1

Drag to orbit, scroll to zoom. Click a joint to open its class. Joint colors show the actuator route on the selected platform.

planetarystrain wavelineartendon / microoptional

Reference

Joint routes: China Post Securities Unitree G1 teardown (2026-03-30), two-stage planetary at every joint opened, 20.6:1 to 22.5:1 measured; Unitree G1 specification, 23 DoF base, optional wrists and three-finger hands; Tesla Optimus actuator documentation per Core Matter notes, strain wave at 14 rotary joints, linear at knee and elbow. Optimization priorities are Core Matter's assessment, not a filing. Model is illustrative.