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I have seen Boston Dynamics’ robot Atlas do some pretty impressive things, like a backflip, which must put quite large torques on the servomotors.
What servos are there that can generate torques like that, but are still small enough to fit in a humanoid robot? Which servos would be suitable? And what servos is it likely that Boston Dynamics use themselves in the Atlas robot?
The Boston Dynamics’ Atlas robot doesn't actually use servo motors. It uses electrically-powered hydraulic actuation.
I saw a presentation by Boston Dynamics' Marc Raibert where (if I remember correctly) he said they used to use Moog actuators designed for the aerospace industry, but that they were now using a motor that they build in-house that is integrated into the body of the robots. (He said something similar in this interview with IEEE Spectrum).
