# getactuators: full catalog

> Open, spec-level directory of robot actuators (QDD motors, integrated joints, smart servos, harmonic and cycloidal reducers) and the robots that use them.

68 actuators from 30 brands in 6 categories, plus 6 robots with the motor in each joint. Data last updated 2026-09-26. Numbers come from manufacturer pages and datasheets; entries marked unverified have not been spot-checked. Index: https://getactuators.com/llms.txt.

## When to use getactuators

- Pick an actuator for a quadruped leg, humanoid joint or robot arm given a torque, weight or budget target (filter by use_case, min_peak_torque_nm, max_weight_g, max_price_usd).
- Rank actuators by torque density, price per Nm, backlash or speed.
- Compare two or more specific actuators side by side (peak and rated torque, gear ratio, weight, voltage, bus, encoder, price).
- Find which motors a real robot uses in each joint, or which robots use a given actuator.
- Look up one actuator's datasheet-level specs with source links before recommending it.

- MCP: connect a Streamable HTTP client to https://getactuators.com/mcp (no auth). Tools: search_actuators, get_actuator, compare_actuators, recommend_actuators, list_actuator_categories, list_brands, list_robots, get_robot, find_robots_using_actuator.
- REST: GET https://getactuators.com/api/v1/actuators?use_case=quadruped_leg&sort=torque_density_nm_per_kg returns JSON, no key needed.
- Markdown: append .md to any page URL, or send Accept: text/markdown.

## QDD / Proprioceptive

Quasi-direct-drive motors with low gear ratios; backdrivable, used in legged robots.

### AK10-9 (V3.0 KV60) (CubeMars (T-Motor))

- id: cubemars-ak10-9
- category: QDD / Proprioceptive
- use cases: quadruped leg, robot arm, legged robot
- peak / rated torque: 53 Nm / 18 Nm
- max speed: 235 rpm; gear ratio: 9:1
- weight: 960 g; torque density: 55.2 Nm/kg
- price: quote only; backlash: n/a
- bus: CAN; voltage: 24-48
- status: verified; page: https://getactuators.com/actuators/cubemars-ak10-9

### AK60-6 (V3.0 KV80) (CubeMars (T-Motor))

- id: cubemars-ak60-6
- category: QDD / Proprioceptive
- use cases: quadruped leg, robot arm, exoskeleton
- peak / rated torque: 9 Nm / 3 Nm
- max speed: 490 rpm; gear ratio: 6:1
- weight: 380 g; torque density: 23.7 Nm/kg
- price: $427; backlash: n/a
- bus: CAN; voltage: 24-48
- status: verified; page: https://getactuators.com/actuators/cubemars-ak60-6

### AK70-10 (KV100) (CubeMars (T-Motor))

- id: cubemars-ak70-10
- category: QDD / Proprioceptive
- use cases: quadruped leg, robot arm, legged robot
- peak / rated torque: 24.8 Nm / 8.3 Nm
- max speed: 310 rpm; gear ratio: 10:1
- weight: 521 g; torque density: 47.6 Nm/kg
- price: $399; backlash: 8 arcmin
- bus: CAN; voltage: 24-48
- status: verified; page: https://getactuators.com/actuators/cubemars-ak70-10

### AK80-6 (KV100) (CubeMars (T-Motor))

- id: cubemars-ak80-6
- category: QDD / Proprioceptive
- use cases: quadruped leg, robot arm, exoskeleton
- peak / rated torque: 12 Nm / 6 Nm
- max speed: 600 rpm; gear ratio: 6:1
- weight: 485 g; torque density: 24.7 Nm/kg
- price: $470; backlash: n/a
- bus: CAN; voltage: 24-48
- status: verified; page: https://getactuators.com/actuators/cubemars-ak80-6

### AK80-9 (V3.0 KV100) (CubeMars (T-Motor))

- id: cubemars-ak80-9
- category: QDD / Proprioceptive
- use cases: quadruped leg, robot arm, exoskeleton
- peak / rated torque: 22 Nm / 9 Nm
- max speed: 570 rpm; gear ratio: 9:1
- weight: 485 g; torque density: 45.4 Nm/kg
- price: $580; backlash: n/a
- bus: CAN; voltage: 24-48
- status: verified; page: https://getactuators.com/actuators/cubemars-ak80-9

### CyberGear Micromotor (Xiaomi)

- id: xiaomi-cybergear
- category: QDD / Proprioceptive
- use cases: robot arm, quadruped leg, legged robot
- peak / rated torque: 12 Nm / 4 Nm
- max speed: 296 rpm; gear ratio: 7.75:1
- weight: 317 g; torque density: 37.9 Nm/kg
- price: quote only; backlash: n/a
- bus: CAN; voltage: 24
- status: verified; page: https://getactuators.com/actuators/xiaomi-cybergear

### GIM6010-8 (Steadywin)

- id: steadywin-gim6010-8
- category: QDD / Proprioceptive
- use cases: quadruped leg, robot arm
- peak / rated torque: 11 Nm / 5 Nm
- max speed: 420 rpm; gear ratio: 8:1
- weight: 388 g; torque density: 28.4 Nm/kg
- price: quote only; backlash: 15 arcmin
- bus: CAN; voltage: 12-56
- status: verified; page: https://getactuators.com/actuators/steadywin-gim6010-8

### GIM8108-8 (Steadywin)

- id: steadywin-gim8108-8
- category: QDD / Proprioceptive
- use cases: quadruped leg, robot arm, exoskeleton
- peak / rated torque: 22 Nm / 7.5 Nm
- max speed: 320 rpm; gear ratio: 8:1
- weight: 375 g; torque density: 58.7 Nm/kg
- price: quote only; backlash: 15 arcmin
- bus: CAN; voltage: 24-56
- status: verified; page: https://getactuators.com/actuators/steadywin-gim8108-8

### GO-M8010-6 (Unitree)

- id: unitree-go-m8010-6
- category: QDD / Proprioceptive
- use cases: quadruped leg, legged robot, robot arm
- peak / rated torque: 23.7 Nm / n/a
- max speed: 286 rpm; gear ratio: 6.33:1
- weight: 530 g; torque density: 44.7 Nm/kg
- price: $369; backlash: n/a
- bus: RS-485; voltage: 24
- status: verified; page: https://getactuators.com/actuators/unitree-go-m8010-6

### qdd100 beta 3 (mjbots)

- id: mjbots-qdd100
- category: QDD / Proprioceptive
- use cases: quadruped leg, legged robot, robot arm
- peak / rated torque: 16 Nm / 3.3 Nm
- max speed: 383 rpm; gear ratio: 6:1
- weight: 507 g; torque density: 31.6 Nm/kg
- price: $879; backlash: 15 arcmin
- bus: CAN-FD; voltage: 10-44
- status: verified; page: https://getactuators.com/actuators/mjbots-qdd100

## Integrated Joint

Motor, gearbox, encoder and driver in one housing, sized for arm and humanoid joints.

### GIM6010-36 (48V) (Steadywin)

- id: steadywin-gim6010-36
- category: Integrated Joint
- use cases: robot arm, quadruped leg, exoskeleton
- peak / rated torque: 41 Nm / 18 Nm
- max speed: 97 rpm; gear ratio: 36:1
- weight: 574 g; torque density: 71.4 Nm/kg
- price: quote only; backlash: 15 arcmin
- bus: CAN, RS-485; voltage: 12-56
- status: verified; page: https://getactuators.com/actuators/steadywin-gim6010-36

### MG5010E-i36 V3 (LKMTech (LKTECH / Shanghai Lingkong))

- id: lkmtech-mg5010e-i36-v3
- category: Integrated Joint
- use cases: robot arm, quadruped leg, exoskeleton
- peak / rated torque: 25 Nm / 13 Nm
- max speed: 74 rpm; gear ratio: 36:1
- weight: n/a; torque density: n/a
- price: quote only; backlash: n/a
- bus: CAN, RS-485; voltage: 24
- status: unverified; page: https://getactuators.com/actuators/lkmtech-mg5010e-i36-v3

### RMD-L-9015-16T (MyActuator)

- id: myactuator-rmd-l-9015
- category: Integrated Joint
- use cases: gimbal, robot arm, swing arm manipulator
- peak / rated torque: 3.4 Nm / 1.6 Nm
- max speed: 780 rpm; gear ratio: 1:1
- weight: 650 g; torque density: 5.2 Nm/kg
- price: quote only; backlash: n/a
- bus: CAN, RS-485, TTL; voltage: 24
- status: verified; page: https://getactuators.com/actuators/myactuator-rmd-l-9015

### RMD-X10-S2 V3 (1:35) (MyActuator)

- id: myactuator-rmd-x10-s2-v3
- category: Integrated Joint
- use cases: robot arm, humanoid joint, industrial automation
- peak / rated torque: 100 Nm / 50 Nm
- max speed: 50 rpm; gear ratio: 35:1
- weight: n/a; torque density: n/a
- price: $625; backlash: n/a
- bus: CAN, RS-485; voltage: 24-48
- status: unverified; page: https://getactuators.com/actuators/myactuator-rmd-x10-s2-v3

### RMD-X6-8 V3 (MyActuator)

- id: myactuator-rmd-x6-8
- category: Integrated Joint
- use cases: robot arm, quadruped leg, agv
- peak / rated torque: 8 Nm / 4.5 Nm
- max speed: 310 rpm; gear ratio: 8:1
- weight: 490 g; torque density: 16.3 Nm/kg
- price: $355; backlash: n/a
- bus: CAN, RS-485; voltage: 24-48
- status: verified; page: https://getactuators.com/actuators/myactuator-rmd-x6-8

### RMD-X8 Pro V2 (1:9) (MyActuator)

- id: myactuator-rmd-x8-pro-v2
- category: Integrated Joint
- use cases: robot arm, quadruped leg, exoskeleton
- peak / rated torque: 25 Nm / 13 Nm
- max speed: 160 rpm; gear ratio: 9:1
- weight: 710 g; torque density: 35.2 Nm/kg
- price: $557.24; backlash: n/a
- bus: CAN, RS-485; voltage: 24-48
- status: verified; page: https://getactuators.com/actuators/myactuator-rmd-x8-pro-v2

### RMD-X8-120 (MyActuator)

- id: myactuator-rmd-x8-120
- category: Integrated Joint
- use cases: robot arm, humanoid joint, agv
- peak / rated torque: 120 Nm / 43 Nm
- max speed: 127 rpm; gear ratio: 20:1
- weight: 1400 g; torque density: 85.7 Nm/kg
- price: $645; backlash: n/a
- bus: CAN, EtherCAT; voltage: 24-48
- status: verified; page: https://getactuators.com/actuators/myactuator-rmd-x8-120

### RobStride 00 (RobStride)

- id: robstride-00
- category: Integrated Joint
- use cases: robot arm, quadruped leg, humanoid joint
- peak / rated torque: 14 Nm / n/a
- max speed: n/a; gear ratio: 10:1
- weight: 310 g; torque density: 45.2 Nm/kg
- price: $125; backlash: n/a
- bus: CAN; voltage: 24-60
- status: verified; page: https://getactuators.com/actuators/robstride-00

### RobStride 01 (RobStride)

- id: robstride-01
- category: Integrated Joint
- use cases: robot arm, quadruped leg, humanoid joint
- peak / rated torque: 17 Nm / 7 Nm
- max speed: n/a; gear ratio: 7.75:1
- weight: 380 g; torque density: 44.7 Nm/kg
- price: $143.99; backlash: n/a
- bus: CAN; voltage: 24-48
- status: verified; page: https://getactuators.com/actuators/robstride-01

### RobStride 02 (RobStride)

- id: robstride-02
- category: Integrated Joint
- use cases: robot arm, quadruped leg, humanoid joint
- peak / rated torque: 17 Nm / 6 Nm
- max speed: n/a; gear ratio: 7.75:1
- weight: 405 g; torque density: 42 Nm/kg
- price: $160.99; backlash: n/a
- bus: CAN; voltage: 24-60
- status: verified; page: https://getactuators.com/actuators/robstride-02

### RobStride 03 (RobStride)

- id: robstride-03
- category: Integrated Joint
- use cases: robot arm, quadruped leg, humanoid joint
- peak / rated torque: 60 Nm / 21 Nm
- max speed: n/a; gear ratio: 9:1
- weight: 900 g; torque density: 66.7 Nm/kg
- price: $249.99; backlash: n/a
- bus: CAN; voltage: 15-60
- status: verified; page: https://getactuators.com/actuators/robstride-03

### RobStride 04 (RobStride)

- id: robstride-04
- category: Integrated Joint
- use cases: robot arm, humanoid joint, quadruped leg
- peak / rated torque: 120 Nm / 40 Nm
- max speed: n/a; gear ratio: 9:1
- weight: 1420 g; torque density: 84.5 Nm/kg
- price: $255; backlash: n/a
- bus: CAN; voltage: 15-60
- status: verified; page: https://getactuators.com/actuators/robstride-04

## Smart Servo

Compact bus servos with onboard control, common in hobby and research arms.

### H54-200-S500-R (Dynamixel PRO) (Robotis (Dynamixel))

- id: dynamixel-h54-200-s500-r
- category: Smart Servo
- use cases: robot arm, humanoid joint
- peak / rated torque: 44.7 Nm / n/a
- max speed: 33 rpm; gear ratio: 502:1
- weight: 855 g; torque density: 52.3 Nm/kg
- price: quote only; backlash: n/a
- bus: RS-485; voltage: 24
- status: verified; page: https://getactuators.com/actuators/dynamixel-h54-200-s500-r

### LX-16A (Hiwonder (LewanSoul))

- id: hiwonder-lx-16a
- category: Smart Servo
- use cases: quadruped leg, robot arm
- peak / rated torque: 1.9 Nm / n/a
- max speed: 53 rpm; gear ratio: n/a
- weight: 52 g; torque density: 36.7 Nm/kg
- price: $19; backlash: n/a
- bus: TTL; voltage: 6.0-8.4
- status: verified; page: https://getactuators.com/actuators/hiwonder-lx-16a

### PH54-200-S500-R (Dynamixel-P / Pro+) (Robotis (Dynamixel))

- id: dynamixel-ph54-200-s500-r
- category: Smart Servo
- use cases: robot arm, humanoid joint
- peak / rated torque: n/a / 44.7 Nm
- max speed: 33 rpm; gear ratio: 501.9:1
- weight: 855 g; torque density: n/a
- price: $3,542; backlash: 6 arcmin
- bus: RS-485; voltage: 24
- status: unverified; page: https://getactuators.com/actuators/dynamixel-ph54-200-s500-r

### PM54-060-S250-R (Dynamixel-P / Pro+) (Robotis (Dynamixel))

- id: dynamixel-pm54-060-s250-r
- category: Smart Servo
- use cases: robot arm, humanoid joint
- peak / rated torque: n/a / 10.1 Nm
- max speed: 33 rpm; gear ratio: 251.4:1
- weight: 855 g; torque density: n/a
- price: $2,196; backlash: 6 arcmin
- bus: RS-485; voltage: 24
- status: unverified; page: https://getactuators.com/actuators/dynamixel-pm54-060-s250-r

### SC15 Serial Bus Servo (17 kg.cm) (Waveshare (Feetech OEM))

- id: waveshare-sc15
- category: Smart Servo
- use cases: robot arm
- peak / rated torque: 1.7 Nm / n/a
- max speed: 62 rpm; gear ratio: n/a
- weight: 70 g; torque density: 23.9 Nm/kg
- price: quote only; backlash: n/a
- bus: TTL; voltage: 4.8-8.4
- status: verified; page: https://getactuators.com/actuators/waveshare-sc15

### SCS15 (Feetech)

- id: feetech-scs15
- category: Smart Servo
- use cases: robot arm, quadruped leg
- peak / rated torque: 1.7 Nm / n/a
- max speed: 73 rpm; gear ratio: 275:1
- weight: 56 g; torque density: 29.8 Nm/kg
- price: $25; backlash: n/a
- bus: TTL; voltage: 6.0-8.4
- status: verified; page: https://getactuators.com/actuators/feetech-scs15

### ST3215 Serial Bus Servo (30 kg.cm) (Waveshare (Feetech OEM))

- id: waveshare-st3215
- category: Smart Servo
- use cases: robot arm, quadruped leg
- peak / rated torque: 2.9 Nm / n/a
- max speed: 45 rpm; gear ratio: n/a
- weight: 69 g; torque density: 42.6 Nm/kg
- price: $17; backlash: n/a
- bus: TTL; voltage: 6.0-12.6
- status: verified; page: https://getactuators.com/actuators/waveshare-st3215

### STS3215 (12V, 30 kg.cm) (Feetech)

- id: feetech-sts3215
- category: Smart Servo
- use cases: robot arm, quadruped leg
- peak / rated torque: 2.9 Nm / n/a
- max speed: 45 rpm; gear ratio: 345:1
- weight: 55 g; torque density: 53.5 Nm/kg
- price: $16; backlash: n/a
- bus: TTL; voltage: 6.0-12.6
- status: verified; page: https://getactuators.com/actuators/feetech-sts3215

### STS3250 (12V, 50 kg.cm) (Feetech)

- id: feetech-sts3250
- category: Smart Servo
- use cases: robot arm, quadruped leg
- peak / rated torque: 4.9 Nm / n/a
- max speed: 75 rpm; gear ratio: 345:1
- weight: 75 g; torque density: 65.8 Nm/kg
- price: $28; backlash: n/a
- bus: TTL; voltage: 7.4-12.6
- status: verified; page: https://getactuators.com/actuators/feetech-sts3250

### XC430-W150-T (Robotis (Dynamixel))

- id: dynamixel-xc430-w150-t
- category: Smart Servo
- use cases: robot arm, quadruped leg
- peak / rated torque: 1.6 Nm / n/a
- max speed: 106 rpm; gear ratio: 159.5:1
- weight: 65 g; torque density: 24.6 Nm/kg
- price: $138; backlash: n/a
- bus: TTL; voltage: 6.5-12.0
- status: verified; page: https://getactuators.com/actuators/dynamixel-xc430-w150-t

### XH540-W270-T (Robotis (Dynamixel))

- id: dynamixel-xh540-w270-t
- category: Smart Servo
- use cases: robot arm, quadruped leg
- peak / rated torque: 9.9 Nm / n/a
- max speed: 39 rpm; gear ratio: 272.5:1
- weight: 165 g; torque density: 60 Nm/kg
- price: $621; backlash: 15 arcmin
- bus: TTL; voltage: 10.0-14.8
- status: verified; page: https://getactuators.com/actuators/dynamixel-xh540-w270-t

### XL330-M288-T (Robotis (Dynamixel))

- id: dynamixel-xl330-m288-t
- category: Smart Servo
- use cases: robot arm, quadruped leg
- peak / rated torque: 0.5 Nm / n/a
- max speed: 103 rpm; gear ratio: 288.35:1
- weight: 18 g; torque density: 28.9 Nm/kg
- price: $24; backlash: n/a
- bus: TTL; voltage: 3.7-6.0
- status: verified; page: https://getactuators.com/actuators/dynamixel-xl330-m288-t

### XL430-W250-T (Robotis (Dynamixel))

- id: dynamixel-xl430-w250-t
- category: Smart Servo
- use cases: robot arm
- peak / rated torque: 1.5 Nm / n/a
- max speed: 61 rpm; gear ratio: 258.5:1
- weight: 57 g; torque density: 26.2 Nm/kg
- price: $50; backlash: n/a
- bus: TTL; voltage: 6.5-12.0
- status: verified; page: https://getactuators.com/actuators/dynamixel-xl430-w250-t

### XM430-W350-T (Robotis (Dynamixel))

- id: dynamixel-xm430-w350-t
- category: Smart Servo
- use cases: robot arm
- peak / rated torque: 4.1 Nm / n/a
- max speed: 46 rpm; gear ratio: 353.5:1
- weight: 82 g; torque density: 50 Nm/kg
- price: $290; backlash: n/a
- bus: TTL; voltage: 10.0-14.8
- status: verified; page: https://getactuators.com/actuators/dynamixel-xm430-w350-t

### XM540-W270-T (Robotis (Dynamixel))

- id: dynamixel-xm540-w270-t
- category: Smart Servo
- use cases: robot arm, quadruped leg
- peak / rated torque: 10.6 Nm / n/a
- max speed: 30 rpm; gear ratio: 272.5:1
- weight: 165 g; torque density: 64.2 Nm/kg
- price: $483; backlash: n/a
- bus: TTL; voltage: 10.0-14.8
- status: verified; page: https://getactuators.com/actuators/dynamixel-xm540-w270-t

## Harmonic / Precision

Strain-wave (harmonic) gearing with near-zero backlash for precise positioning.

### CHA series (Hollow Shaft Servo Actuator) (Harmonic Drive (Harmonic Drive SE / LLC))

- id: harmonic-drive-cha-series
- category: Harmonic / Precision
- use cases: robot arm, industrial robot joint, heavy positioning
- peak / rated torque: n/a / n/a
- max speed: n/a; gear ratio: 30:1-160:1
- weight: n/a; torque density: n/a
- price: quote only; backlash: 0 arcmin
- bus: EtherCAT, CAN; voltage: n/a
- status: unverified; page: https://getactuators.com/actuators/harmonic-drive-cha-series

### FHA-14C-100 (FHA-C Mini) (Harmonic Drive LLC)

- id: harmonic-drive-fha-14c-100
- category: Harmonic / Precision
- use cases: robot arm, cobot joint, semiconductor, medical robotics
- peak / rated torque: 28 Nm / 6.8 Nm
- max speed: 60 rpm; gear ratio: 100:1
- weight: 1650 g; torque density: 17 Nm/kg
- price: quote only; backlash: 0 arcmin
- bus: CAN, EtherCAT; voltage: 24
- status: verified; page: https://getactuators.com/actuators/harmonic-drive-fha-14c-100

### FLEXWAVE WPG series (strain-wave gearhead) (Nidec Drive Technology (Nidec-Shimpo))

- id: nidec-flexwave-wpg
- category: Harmonic / Precision
- use cases: robot arm, industrial robot joint, machine tool, semiconductor
- peak / rated torque: n/a / n/a
- max speed: n/a; gear ratio: 50:1-160:1
- weight: n/a; torque density: n/a
- price: quote only; backlash: 0 arcmin
- bus: n/a; voltage: n/a
- status: unverified; page: https://getactuators.com/actuators/nidec-flexwave-wpg

### LCS series (cup-type harmonic reducer) (Leaderdrive (Suzhou Leader Harmonic Drive))

- id: leaderdrive-lcs
- category: Harmonic / Precision
- use cases: robot arm, cobot joint, industrial robot joint
- peak / rated torque: n/a / n/a
- max speed: n/a; gear ratio: 50:1-160:1
- weight: n/a; torque density: n/a
- price: quote only; backlash: 0 arcmin
- bus: n/a; voltage: n/a
- status: unverified; page: https://getactuators.com/actuators/leaderdrive-lcs

### LHD series (hollow-shaft harmonic reducer) (Leaderdrive (Suzhou Leader Harmonic Drive))

- id: leaderdrive-lhd
- category: Harmonic / Precision
- use cases: robot arm, industrial robot joint
- peak / rated torque: n/a / n/a
- max speed: n/a; gear ratio: 50:1-160:1
- weight: n/a; torque density: n/a
- price: quote only; backlash: 0 arcmin
- bus: n/a; voltage: n/a
- status: unverified; page: https://getactuators.com/actuators/leaderdrive-lhd

### LHS series (Harmonic Drive strain-wave reducer) (Leaderdrive (Suzhou Leader Harmonic Drive))

- id: leaderdrive-lhs
- category: Harmonic / Precision
- use cases: robot arm, industrial robot joint, cobot joint
- peak / rated torque: n/a / n/a
- max speed: n/a; gear ratio: 50:1-160:1
- weight: n/a; torque density: n/a
- price: quote only; backlash: 0 arcmin
- bus: n/a; voltage: n/a
- status: unverified; page: https://getactuators.com/actuators/leaderdrive-lhs

### LPA-20 (Low Profile Rotary Actuator) (Harmonic Drive LLC)

- id: harmonic-drive-lpa-20
- category: Harmonic / Precision
- use cases: humanoid joint, cobot joint, robot arm, surgical robotics
- peak / rated torque: 57 Nm / 16.9 Nm
- max speed: n/a; gear ratio: 51:1-101:1
- weight: 1400 g; torque density: 40.7 Nm/kg
- price: quote only; backlash: 0 arcmin
- bus: CAN, EtherCAT; voltage: 48
- status: verified; page: https://getactuators.com/actuators/harmonic-drive-lpa-20

### SHA-CG series (SHA-CG Hollow Shaft Actuator) (Harmonic Drive LLC)

- id: harmonic-drive-sha-cg
- category: Harmonic / Precision
- use cases: robot arm, cobot joint, positioning stage, assembly automation
- peak / rated torque: n/a / n/a
- max speed: n/a; gear ratio: 50:1-160:1
- weight: n/a; torque density: n/a
- price: quote only; backlash: 0 arcmin
- bus: EtherCAT, CAN; voltage: 24 / 100-240
- status: unverified; page: https://getactuators.com/actuators/harmonic-drive-sha-cg

### Smart-FLEXWAVE SRH series (smart strain-wave reducer) (Nidec Drive Technology (Nidec-Shimpo))

- id: nidec-smart-flexwave-srh
- category: Harmonic / Precision
- use cases: humanoid joint, cobot joint, robot arm
- peak / rated torque: n/a / n/a
- max speed: n/a; gear ratio: 50:1-160:1
- weight: n/a; torque density: n/a
- price: quote only; backlash: 0 arcmin
- bus: n/a; voltage: n/a
- status: unverified; page: https://getactuators.com/actuators/nidec-smart-flexwave-srh

## Frameless + Driver

Frameless motor kits and standalone motor drivers for custom actuator builds.

### EC frameless 90 flat (260 W) (maxon)

- id: maxon-ec-frameless-90-flat-260w
- category: Frameless + Driver
- use cases: robot arm, direct drive joint, cobot
- peak / rated torque: 9.8 Nm / 1 Nm
- max speed: 5000 rpm; gear ratio: 1:1
- weight: 814 g; torque density: 12 Nm/kg
- price: quote only; backlash: n/a
- bus: n/a; voltage: 48
- status: verified; page: https://getactuators.com/actuators/maxon-ec-frameless-90-flat-260w

### iPower GM8112-80T (iPower Motor (iFlight))

- id: ipower-gm8112-80t
- category: Frameless + Driver
- use cases: gimbal, robot arm, direct drive joint
- peak / rated torque: 0.9 Nm / 0.6 Nm
- max speed: 420 rpm; gear ratio: 1:1
- weight: 428 g; torque density: 2.1 Nm/kg
- price: $178; backlash: n/a
- bus: n/a; voltage: n/a
- status: verified; page: https://getactuators.com/actuators/ipower-gm8112-80t

### Megaflux MF0127 (frameless) (Allied Motion / Allient)

- id: allied-motion-megaflux-mf0127
- category: Frameless + Driver
- use cases: robot arm, direct drive joint, industrial
- peak / rated torque: n/a / n/a
- max speed: n/a; gear ratio: 1:1
- weight: n/a; torque density: n/a
- price: quote only; backlash: n/a
- bus: n/a; voltage: n/a
- status: unverified; page: https://getactuators.com/actuators/allied-motion-megaflux-mf0127

### moteus c1 (mjbots)

- id: mjbots-moteus-c1
- category: Frameless + Driver
- use cases: robot arm, diy qdd, small joint
- peak / rated torque: n/a / n/a
- max speed: n/a; gear ratio: n/a
- weight: 9 g; torque density: n/a
- price: $69; backlash: n/a
- bus: CAN-FD; voltage: 10-51
- status: unverified; page: https://getactuators.com/actuators/mjbots-moteus-c1

### moteus r4.11 (mjbots)

- id: mjbots-moteus-r4-11
- category: Frameless + Driver
- use cases: quadruped leg, robot arm, diy qdd, humanoid joint
- peak / rated torque: n/a / n/a
- max speed: n/a; gear ratio: n/a
- weight: 14 g; torque density: n/a
- price: $94; backlash: n/a
- bus: CAN-FD; voltage: 10-44
- status: unverified; page: https://getactuators.com/actuators/mjbots-moteus-r4-11

### ODrive Pro (ODrive Robotics)

- id: odrive-pro
- category: Frameless + Driver
- use cases: quadruped leg, robot arm, diy qdd, humanoid joint
- peak / rated torque: n/a / n/a
- max speed: n/a; gear ratio: n/a
- weight: n/a; torque density: n/a
- price: $229; backlash: n/a
- bus: CAN-FD, USB, UART; voltage: 12-56
- status: unverified; page: https://getactuators.com/actuators/odrive-pro

### ODrive S1 (ODrive Robotics)

- id: odrive-s1
- category: Frameless + Driver
- use cases: quadruped leg, robot arm, diy qdd, humanoid joint
- peak / rated torque: n/a / n/a
- max speed: n/a; gear ratio: n/a
- weight: n/a; torque density: n/a
- price: $149; backlash: n/a
- bus: CAN-FD, CAN, USB, UART; voltage: 12-50
- status: unverified; page: https://getactuators.com/actuators/odrive-s1

### ODrive v3.6 (ODrive Robotics)

- id: odrive-v36
- category: Frameless + Driver
- use cases: quadruped leg, robot arm, diy qdd
- peak / rated torque: n/a / n/a
- max speed: n/a; gear ratio: n/a
- weight: n/a; torque density: n/a
- price: $259; backlash: n/a
- bus: CAN, USB, UART; voltage: 12-56
- status: unverified; page: https://getactuators.com/actuators/odrive-v36

### R60 KV115 (CubeMars (T-Motor))

- id: cubemars-r60-kv115
- category: Frameless + Driver
- use cases: robot arm, exoskeleton, quadruped leg
- peak / rated torque: 2.3 Nm / 0.8 Nm
- max speed: 4150 rpm; gear ratio: 1:1
- weight: 248 g; torque density: 9.3 Nm/kg
- price: quote only; backlash: n/a
- bus: n/a; voltage: 48
- status: verified; page: https://getactuators.com/actuators/cubemars-r60-kv115

### RI60 KV120 (CubeMars (T-Motor))

- id: cubemars-ri60-kv120
- category: Frameless + Driver
- use cases: robot arm, exoskeleton, quadruped leg, cobot
- peak / rated torque: 1.6 Nm / 0.6 Nm
- max speed: 5760 rpm; gear ratio: 1:1
- weight: 156 g; torque density: 10.5 Nm/kg
- price: quote only; backlash: n/a
- bus: n/a; voltage: 24-48
- status: verified; page: https://getactuators.com/actuators/cubemars-ri60-kv120

### RI80 V2.0 KV75 (CubeMars (T-Motor))

- id: cubemars-ri80-v2-kv75
- category: Frameless + Driver
- use cases: robot arm, cobot, exoskeleton, quadruped leg
- peak / rated torque: 4.1 Nm / 1.4 Nm
- max speed: 2430 rpm; gear ratio: 1:1
- weight: 411 g; torque density: 10 Nm/kg
- price: quote only; backlash: n/a
- bus: n/a; voltage: 12-48
- status: verified; page: https://getactuators.com/actuators/cubemars-ri80-v2-kv75

### TMC4671 FOC servo controller (Trinamic (Analog Devices))

- id: trinamic-tmc4671
- category: Frameless + Driver
- use cases: robot arm, diy qdd, industrial servo
- peak / rated torque: n/a / n/a
- max speed: n/a; gear ratio: n/a
- weight: n/a; torque density: n/a
- price: quote only; backlash: n/a
- bus: SPI, UART, PWM; voltage: 12-55
- status: unverified; page: https://getactuators.com/actuators/trinamic-tmc4671

### TQ-RoboDrive ILM85x26 (TQ-Systems (RoboDrive))

- id: tq-robodrive-ilm85x26
- category: Frameless + Driver
- use cases: robot arm, cobot, humanoid joint, exoskeleton
- peak / rated torque: 9.4 Nm / 2.9 Nm
- max speed: 5400 rpm; gear ratio: 1:1
- weight: 670 g; torque density: 14 Nm/kg
- price: quote only; backlash: n/a
- bus: n/a; voltage: 48
- status: verified; page: https://getactuators.com/actuators/tq-robodrive-ilm85x26

### VESC 6 MkVI (Trampa / VESC Project)

- id: trampa-vesc-6-mkvi
- category: Frameless + Driver
- use cases: diy qdd, robot arm, mobility
- peak / rated torque: n/a / n/a
- max speed: n/a; gear ratio: n/a
- weight: n/a; torque density: n/a
- price: $255; backlash: n/a
- bus: CAN, USB, UART, SPI; voltage: 11.1-50
- status: unverified; page: https://getactuators.com/actuators/trampa-vesc-6-mkvi

## Cycloidal / Premium

Cycloidal and RV reducers for high-torque, shock-tolerant industrial joints.

### Arc Series Cycloidal Joint Actuator (ATAR Robot)

- id: atar-arc-cycloidal-joint
- category: Cycloidal / Premium
- use cases: humanoid joint, heavy arm, robot arm
- peak / rated torque: 530 Nm / n/a
- max speed: 100 rpm; gear ratio: n/a
- weight: n/a; torque density: n/a
- price: quote only; backlash: 1 arcmin
- bus: CAN-FD, EtherCAT; voltage: 24-72
- status: unverified; page: https://getactuators.com/actuators/atar-arc-cycloidal-joint

### DM-J10010-2EC (DAMIAO (DMBots))

- id: damiao-dm-j10010-2ec
- category: Cycloidal / Premium
- use cases: robot arm, humanoid joint, quadruped leg
- peak / rated torque: 150 Nm / 40 Nm
- max speed: n/a; gear ratio: 10:1
- weight: n/a; torque density: n/a
- price: $357; backlash: n/a
- bus: CAN; voltage: 48
- status: unverified; page: https://getactuators.com/actuators/damiao-dm-j10010-2ec

### DM-J8009-2EC (DAMIAO (DMBots))

- id: damiao-dm-j8009-2ec
- category: Cycloidal / Premium
- use cases: robot arm, exoskeleton, quadruped leg
- peak / rated torque: 40 Nm / 20 Nm
- max speed: n/a; gear ratio: 9:1
- weight: 896 g; torque density: 44.6 Nm/kg
- price: $385; backlash: n/a
- bus: CAN; voltage: 24
- status: verified; page: https://getactuators.com/actuators/damiao-dm-j8009-2ec

### DriveSpin DS110 (TwinSpin cycloidal) (Spinea (Cone Drive))

- id: spinea-drivespin-ds110
- category: Cycloidal / Premium
- use cases: robot arm, industrial robot joint, heavy arm
- peak / rated torque: 244 Nm / 122 Nm
- max speed: n/a; gear ratio: 67/89/119:1
- weight: n/a; torque density: n/a
- price: quote only; backlash: 1 arcmin
- bus: n/a; voltage: n/a
- status: verified; page: https://getactuators.com/actuators/spinea-drivespin-ds110

### GIM8115-36 (SteadyWin)

- id: steadywin-gim8115-36
- category: Cycloidal / Premium
- use cases: robot arm, exoskeleton, quadruped leg
- peak / rated torque: 54 Nm / n/a
- max speed: 30 rpm; gear ratio: 36:1
- weight: n/a; torque density: n/a
- price: quote only; backlash: n/a
- bus: CAN; voltage: 36-48
- status: unverified; page: https://getactuators.com/actuators/steadywin-gim8115-36

### M107 Joint Motor (Unitree Robotics)

- id: unitree-m107
- category: Cycloidal / Premium
- use cases: humanoid joint, quadruped leg, heavy arm
- peak / rated torque: 360 Nm / n/a
- max speed: n/a; gear ratio: n/a
- weight: 1900 g; torque density: 189.5 Nm/kg
- price: quote only; backlash: n/a
- bus: n/a; voltage: n/a
- status: unverified; page: https://getactuators.com/actuators/unitree-m107

### RV-42N (RV-N cycloidal reducer) (Nabtesco)

- id: nabtesco-rv-42n
- category: Cycloidal / Premium
- use cases: industrial robot joint, cobot joint, heavy arm
- peak / rated torque: 2060 Nm / 412 Nm
- max speed: n/a; gear ratio: 141:1
- weight: 6300 g; torque density: 327 Nm/kg
- price: quote only; backlash: 1 arcmin
- bus: n/a; voltage: n/a
- status: verified; page: https://getactuators.com/actuators/nabtesco-rv-42n

### SCA QDD-Lite-NE30-36 (INNFOS (Mintasca))

- id: innfos-sca-qdd-lite-ne30-36
- category: Cycloidal / Premium
- use cases: cobot arm, robot arm
- peak / rated torque: 10 Nm / 2.3 Nm
- max speed: 30 rpm; gear ratio: 33.6:1
- weight: 232 g; torque density: 43.1 Nm/kg
- price: quote only; backlash: n/a
- bus: CAN, RS-485; voltage: n/a
- status: verified; page: https://getactuators.com/actuators/innfos-sca-qdd-lite-ne30-36

## Robots

### YAM by i2RT Robotics

Low-cost 6-DOF manipulator built for imitation learning and teleoperation data collection. CNC 6061 billet frame, integrated cross-roller bearings, 95 mm patent-pending gripper.

- Brand: i2RT Robotics (China)
- Degrees of freedom: 6
- Payload: 2 kg
- Reach: 750 mm
- Weight: 5.02 kg
- Price: $2,999

| Joint | Count | Motor | Peak torque |
| --- | --- | --- | --- |
| Shoulder (J1-J3) | 3 | Damiao (DMBots) Damiao DM-J4340-2EC | 27 Nm |
| Elbow + wrist (J4-J6) | 3 | Damiao (DMBots) Damiao DM-J4310-2EC | 7 Nm |

### YAM Pro by i2RT Robotics

Same motor set and SDK as the base YAM; the control-law difference is a stiffer J4 position gain plus build refinements. Interchangeable with Standard and Ultra in the SDK.

- Brand: i2RT Robotics (China)
- Degrees of freedom: 6
- Payload: 2 kg
- Reach: 750 mm
- Weight: n/a
- Price: $3,499

| Joint | Count | Motor | Peak torque |
| --- | --- | --- | --- |
| Shoulder (J1-J3) | 3 | Damiao (DMBots) Damiao DM-J4340-2EC | 27 Nm |
| Elbow + wrist (J4-J6) | 3 | Damiao (DMBots) Damiao DM-J4310-2EC | 7 Nm |

### YAM Ultra 2 by i2RT Robotics

Enhanced build of the 6-DOF YAM with the same Damiao motor chain and SDK as Standard and Pro, tuned for higher-duty data collection.

- Brand: i2RT Robotics (China)
- Degrees of freedom: 6
- Payload: 2 kg
- Reach: 750 mm
- Weight: n/a
- Price: $4,299 to $4,399

| Joint | Count | Motor | Peak torque |
| --- | --- | --- | --- |
| Shoulder (J1-J3) | 3 | Damiao (DMBots) Damiao DM-J4340-2EC | 27 Nm |
| Elbow + wrist (J4-J6) | 3 | Damiao (DMBots) Damiao DM-J4310-2EC | 7 Nm |

### BIG YAM by i2RT Robotics

Heavier-payload 6-DOF variant. Uses DM6248 motors at the shoulders with substantially different control gains and a reversed joint 2; the only YAM whose SDK gains differ meaningfully from Standard.

- Brand: i2RT Robotics (China)
- Degrees of freedom: 6
- Payload: 4 kg
- Reach: 1100 mm
- Weight: n/a
- Price: $4,999

| Joint | Count | Motor | Peak torque |
| --- | --- | --- | --- |
| Shoulder (J1-J2) | 2 | Damiao (DMBots) Damiao DM-J6248-2EC | 97 Nm |
| Upper arm (J3-J4) | 2 | Damiao (DMBots) Damiao DM-J4340-2EC | 27 Nm |
| Wrist (J5-J6) | 2 | Damiao (DMBots) Damiao DM-J4310-2EC | 7 Nm |

### YAM 7 by i2RT Robotics

7-DOF member of the YAM family with an added redundant joint for richer wrist orientation. Per-joint motor list not published in the SDK docs yet.

- Brand: i2RT Robotics (China)
- Degrees of freedom: 7
- Payload: 4 kg
- Reach: 803 mm
- Weight: 6.64 kg
- Price: $4,999 to $9,999

| Joint | Count | Motor | Peak torque |
| --- | --- | --- | --- |

### YAM Leader by i2RT Robotics

Teleoperation leader arm: the operator backdrives it to puppeteer a follower YAM (GELLO-style). Runs the same motor-chain SDK; its joint motor list is not published separately.

- Brand: i2RT Robotics (China)
- Degrees of freedom: 6
- Payload: n/a
- Reach: n/a
- Weight: n/a
- Price: $2,999

| Joint | Count | Motor | Peak torque |
| --- | --- | --- | --- |