A method for controlling an actuator operating on an arbitrary load, the actuator comprising an electrical motor and a transmission, the method being characterized by comprising: performing motor calibration of the electrical motor operating independently of the transmission comprising: coupling velocity and moment sensors to the output of the electrical motor; operating the electrical motor by providing a plurality of activation signals of different values; and constructing velocity-moment curves characteristic of the electrical motor using outputs provided by the velocity and moment sensors coupled to the electrical motor; performing actuator calibration of the actuator operating without a load comprising: coupling the transmission to the electrical motor to thereby form the actuator; coupling velocity and moment sensors to the output of the transmission; operating the actuator by providing a plurality of activation signals of different values; and, constructing an internal losses model of the actuator using outputs provided by the velocity and moment sensors coupled to the transmission; performing static load calibration of the actuator operating with applied static load comprising: coupling a static load to output of the transmission; operating the actuator by providing a plurality of activation signals of different values; and, obtaining static load calibration to obtain an external losses model of the actuator; and using a velocity of the motor from a sensor, a transmission ratio of the transmission, the internal losses model and the external losses model to form a feedback loop to calculate a control signal to drive the electrical motor. performing motor calibration of the electrical motor operating independently of the transmission comprising: coupling velocity and moment sensors to the output of the electrical motor; operating the electrical motor by providing a plurality of activation signals of different values; and constructing velocity-moment curves characteristic of the electrical motor using outputs provided by the velocity and moment sensors coupled to the electrical motor; coupling velocity and moment sensors to the output of the electrical motor; operating the electrical motor by providing a plurality of activation signals of different values; and constructing velocity-moment curves characteristic of the electrical motor using outputs provided by the velocity and moment sensors coupled to the electrical motor; performing actuator calibration of the actuator operating without a load comprising: coupling the transmission to the electrical motor to thereby form the actuator; coupling velocity and moment sensors to the output of the transmission; operating the actuator by providing a plurality of activation signals of different values; and, constructing an internal losses model of the actuator using outputs provided by the velocity and moment sensors coupled to the transmission; coupling the transmission to the electrical motor to thereby form the actuator; coupling velocity and moment sensors to the output of the transmission; operating the actuator by providing a plurality of activation signals of different values; and, constructing an internal losses model of the actuator using outputs provided by the velocity and moment sensors coupled to the transmission; performing static load calibration of the actuator operating with applied static load comprising: coupling a static load to output of the transmission; operating the actuator by providing a plurality of activation signals of different values; and, obtaining static load calibration to obtain an external losses model of the actuator; coupling a static load to output of the transmission; operating the actuator by providing a plurality of activation signals of different values; and, obtaining static load calibration to obtain an external losses model of the actuator; and using a velocity of the motor from a sensor, a transmission ratio of the transmission, the internal losses model and the external losses model to form a feedback loop to calculate a control signal to drive the electrical motor.