When developing a humanoid robot, the choice of the system driving its joints is of crucial importance for the robot’s robustness, technical reliability, ease of maintenance, as well as its degree of autonomy. Here, we present a novel, modular actuator system of the humanoid robot
. Both the concept of the actuator system and the composition of the individual modules which it consists of are described. In addition to the design of the robot’s joints the way how the actuator components are integrated in the assembly of
is addressed. Finally, the characteristics of the different modes of actuating the joints by the actuator system are explained, and future prospects of its application considered.