| Part | Torque Nom | Torque Peak | Weight | Cost |
|---|---|---|---|---|
| AK60-6 V1.1 | 3 | 9 | 368 | 298.90 |
| AK70-10 | 8.3 | 24.8 | 521 | 498.90 |
| AK80-6 | 6 | 12 | 485 | 569.90 |
| AK80-9 | 9 | 18 | 485 | 579.90 |
| AK10-9 V1.1 | 15 | 38 | 820 | 698.90 |
| AK10-9 V2.0 | 18 | 48 | 960 | 798.90 |
| XL430-W250-T | 1.5 | 57 | 49.90 | |
| XH540-W270-T | 11.7 | 165 | 539.90 | |
| Mystery Servo | 5.88 | Time |
Hopper
3D Biped
“Each ball and socket hip joint has three low friction hydraulic actuators that can position the leg forward and aft, side-to-side, and can rotate the leg along the axis of the leg. A hydraulic actuator within each leg changes its length, while an air spring makes the leg springy in the axial direction. Sensors measure the lengths of the legs, the positions of the hip actuators, pressure in the hip actuators and contact between the foot and the floor. Gyroscopes measure the inertial attitude of the body.”
