Abstract: A force-based motor control is used in order to reduce the collision energy to deal with in case of collisions or shocks. That is, a basis, a force-based control is used: A set force obtained by correcting an externally controlled force by use of a correction force is subject to a limitation so as to obtain an effectively set force which is then subject to force-to-current conversion to determine a current to be applied onto the motor. The correction force is determined when using, in addition to a motor encoder signal of a motor encoder of the motor, a windup force signal formed and an effective correction force signal.

Abstract: Docking assembly 1000 for charging a battery of an electronic device, in particular a robot, comprising a first docking element 1 and a second docking element 2. If the first docking element 1 docks to the second docking element 2, a concave recess of the first docking element 1 positively fits into a convex protrusion of the second docking element 2 in a direction of a center axis 100 of the concave recess.

Abstract: Limb portion 1000, in particular a thigh, for a limb of a robot comprising a first actuator 1 adapted to pivotably couple with a first further limb section and a second actuator 2 adapted to pivotably couple with a second further limb section. In addition, the limb portion 1000 comprises a housing 4 enclosing a first heat source 10 of the first actuator 1 and a second heat source 20 of the second actuator 2. The housing 4 forms a cavity 40 that thermally couples to the first heat source 10 and to the second heat source 20. The housing comprises a first air opening 41 and an second air opening 42 for an airstream to vent the cavity 4.