Multi-axis actuation robotics systems comprising many joints with a floating base require more stability and safety than fixed robots and thus require more considerations. In this paper. we describe the implementation of a real-time EtherCAT control system for the TOCABI humanoid robot with 33 degrees of freedom (DOFs) is described. The focus is on the development of a high-performing... https://www.littletreehouselanes.shop/product-category/baby-rocker/