The locomotion of humanoid robots relies heavily on their "muscles"—electric motors. Currently, Frameless Torque Motors and Coreless Motors are the two most popular types. The following description will provide a quick overview of their functions and characteristics. Joint Power Core: Frameless Torque Motor Humanoid robots have very limited joint space, yet they need to deliver tremendous force. The advantage of a frameless torque motor is that it eliminates the housing and bearings of traditional motors, consisting only of two core components: the rotor and stator. This allows it to be embedded directly into the robot's joints, saving significant space. Achieving Precision Manipulation: Coreless Motors Dexterous robotic hands place distinct demands on motors: they must achieve fast, precise movements within a compact space. Coreless motors, with their ironless "cup-shaped" coil design, eliminate the energy loss associated with traditional iron cores and significantly reduce rotational inertia. This enables them to start and stop instantly with exceptional efficiency, making them ideal for actuating finger joints. Typically, a humanoid robot's hands require 10-12 coreless motors. Other Motors: In addition to the two core motors mentioned above, humanoid robots may also utilize servo motors (for other parts with varying performance requirements) and stepper motors (for parts like the head and eyes that require less load) depending on specific needs.