Open dataset
A curated, continuously maintained database of quasi-direct-drive, harmonic, cycloidal, and planetary actuators powering today's quadrupeds, humanoids, manipulators, and exoskeletons. Filter, plot, and pin candidates side-by-side.
Click a marker to pin an actuator into the comparison drawer. Marker size ∝ torque density.
Showing pinned actuators. Pin 2–4 from the scatter or table to compare normalized profiles.
| Manufacturer | Model | Peak τ (Nm) | Rated τ (Nm) | Max ω (rpm) | Weight (kg) | τ density (Nm/kg) | Transmission | Ratio |
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Quick reference for every spec column in the dataset, with the conventions used here.
Format:
Example:
Example with sensor:
The Dynamic Robot Joint Actuator Comparison Site is an open, continuously maintained collection of specifications for actuators used in dynamic robots — quadrupeds, bipeds, humanoids, manipulators, and exoskeletons. Entries are sourced from manufacturer datasheets and published research. Contributions are welcome on GitHub: add a family file under data/families/ following the schema in data/schema.md and open a pull request.
Spotted incorrect specs or have an updated datasheet? Three ways to help: