Abstract High-power-density and high-charging-performance chargers are the core equipment of intelligent humanoid robots. This paper designs a three-stage charger that can achieve both high power factor control on the grid side and low harmonic DC output of the charger. The three-stage charger, composed of a Boost PFC rectifier, a resonant CLLC DC converter, and a Buck / Boost DC converter, is designed. Then, the deadbeat predictive current control (DPCC) is applied to control the power conversi