The Gearbox Problem: How Mechanical Design Limits Robot Dexterity

Summary

This technical article examines a critical hardware bottleneck in robotics: the gearbox. The authors argue that high-ratio gearboxes are a fundamental problem limiting robot dexterity, as they break sim-to-real transfer, destroy force transparency, and are prone to wear. The post explains the technical challenges and presents the authors' approach to addressing these issues through alternative mechanical designs.