The rotational joints are actuated by the latest version of serially controlled digital servo motors from Robotis (max. holding torque 16.5kgfcm, speed 0.196sec/60degs) which provide enough power to obtain similar speed of four-legged locomotion as with the four-legged robot previously used in RoboCup.
Now not only joint position but also feedback of speed, temperature, load, and input voltage are at the robot programmer's disposal and enable research in new control algorithms, e.g., for legged locomotion, collision detection or object manipulation.