--- title: "actuatorlist: robot actuator leaderboard and spec database" description: "Compare robot actuators by torque, weight, torque density and price. Browse QDD motors, integrated joints, smart servos and reducers." canonical: https://actuatorlist.com/ last-updated: 2026-11-11T13:40:47.000Z --- # actuatorlist: compare robot actuators by torque, weight and price actuatorlist is an independent, open catalog of the actuators that move robots: quasi-direct-drive motors, integrated joints, smart servos, harmonic and cycloidal reducers, and frameless motor kits. It holds 87 actuators from 33 brands in 6 categories, plus 32 robots with the motor in each joint. Robot builders use it to shortlist actuators for quadruped legs, humanoid joints and robot arms by the numbers that decide a build: peak torque, weight, torque density and price. ## Browse the catalog - [Leaderboard](https://actuatorlist.com/): torque density rankings and a torque versus cost scatter. - [Actuators](https://actuatorlist.com/actuators): every entry as a photo gallery or one sortable table. - [Robots](https://actuatorlist.com/robots): which motors sit in each joint of real robots. - [For AI agents](https://actuatorlist.com/agents): REST API, MCP server and markdown views. ## Actuator categories - **QDD / Proprioceptive** (10): Quasi-direct-drive motors with low gear ratios; backdrivable, used in legged robots. - **Integrated Joint** (19): Motor, gearbox, encoder and driver in one housing, sized for arm and humanoid joints. - **Smart Servo** (18): Compact bus servos with onboard control, common in hobby and research arms. - **Harmonic / Precision** (11): Strain-wave (harmonic) gearing with near-zero backlash for precise positioning. - **Frameless + Driver** (21): Frameless motor kits and standalone motor drivers for custom actuator builds. - **Cycloidal / Premium** (8): Cycloidal and RV reducers for high-torque, shock-tolerant industrial joints. ## Highest torque density | Actuator | Brand | Category | Peak Nm | Weight g | Nm/kg | Price | | --- | --- | --- | --- | --- | --- | --- | | [DM-J6248P-2EC](https://actuatorlist.com/actuators/damiao-dm-j6248p-2ec) | DAMIAO (DMBots) | Integrated Joint | 97 | 660 | 147 | $265 | | [DM-J10010-2EC](https://actuatorlist.com/actuators/damiao-dm-j10010-2ec) | DAMIAO (DMBots) | Cycloidal / Premium | 150 | 1485 | 101 | $357 | | [RMD-X8-120](https://actuatorlist.com/actuators/myactuator-rmd-x8-120) | MyActuator | Integrated Joint | 120 | 1400 | 85.7 | $645 | | [PH54-200-S500-R (Dynamixel-P / Pro+)](https://actuatorlist.com/actuators/dynamixel-ph54-200-s500-r) | Robotis (Dynamixel) | Smart Servo | 73 | 855 | 85.4 | $3,542 | | [RobStride 04](https://actuatorlist.com/actuators/robstride-04) | RobStride | Integrated Joint | 120 | 1420 | 84.5 | $255 | | [DM-J4340-2EC](https://actuatorlist.com/actuators/damiao-dm-j4340-2ec) | DAMIAO (DMBots) | Integrated Joint | 27 | 362 | 74.6 | $155 | | [GIM6010-36 (48V)](https://actuatorlist.com/actuators/steadywin-gim6010-36) | Steadywin | Integrated Joint | 41 | 574 | 71.4 | $203.60 | | [DM-J4340P-2EC](https://actuatorlist.com/actuators/damiao-dm-j4340p-2ec) | DAMIAO (DMBots) | Integrated Joint | 27 | 381 | 70.9 | $175 | | [RobStride 03](https://actuatorlist.com/actuators/robstride-03) | RobStride | Integrated Joint | 60 | 880 | 68.2 | $249.99 | | [STS3250 (12V, 50 kg.cm)](https://actuatorlist.com/actuators/feetech-sts3250) | Feetech | Smart Servo | 4.9 | 75 | 65.8 | $28 | ## Lowest price per Nm - [RobStride 04 (RobStride)](https://actuatorlist.com/actuators/robstride-04): $2.13 per Nm, $255 - [DM-J10010-2EC (DAMIAO (DMBots))](https://actuatorlist.com/actuators/damiao-dm-j10010-2ec): $2.38 per Nm, $357 - [DM-J6248P-2EC (DAMIAO (DMBots))](https://actuatorlist.com/actuators/damiao-dm-j6248p-2ec): $2.73 per Nm, $265 - [RobStride 03 (RobStride)](https://actuatorlist.com/actuators/robstride-03): $4.17 per Nm, $249.99 - [GIM6010-36 (48V) (Steadywin)](https://actuatorlist.com/actuators/steadywin-gim6010-36): $4.97 per Nm, $203.60 ## Robots in the catalog - Asimov 1 by Menlo Research: 25 DOF, $15,000 - G1 by Unitree Robotics: 23 DOF, $13,500 - H2 by Unitree Robotics: 31 DOF, $29,900 - NEO by 1X Technologies: 75 DOF, $20,000 - T1 by Booster Robotics: 23 DOF, $29,800 - K1 by Booster Robotics: 22 DOF, $4,999 - Reachy 2 by Pollen Robotics: 17 DOF, $70,000 - Reachy Mini by Pollen Robotics: 9 DOF, $399 - Manmaru YOR by ManmaruAI: 14 DOF, $6,300 - R1 by Unitree Robotics: 26 DOF, $5,900 - GR-3 by Fourier: 55 DOF, quote only - Digit 5 by Agility Robotics: DOF not published, quote only - YAM by i2RT Robotics: 6 DOF, $2,999 - YAM Pro by i2RT Robotics: 6 DOF, $3,499 - YAM Ultra 2 by i2RT Robotics: 6 DOF, $4,299 - BIG YAM by i2RT Robotics: 6 DOF, $4,999 - YAM 7 by i2RT Robotics: 7 DOF, $4,999 - YAM Leader by i2RT Robotics: 6 DOF, $2,999 - PiPER by AgileX Robotics: 6 DOF, $3,500 - SO-101 by TheRobotStudio: 6 DOF, $121.94 - Stretch 3 by Hello Robot: 7 DOF, $24,950 - Franka Research 3 by Franka Robotics: 7 DOF, $29,218.06 - Go1 by Unitree Robotics: 12 DOF, $2,700 - Go2 by Unitree Robotics: 12 DOF, $1,600 - B2 by Unitree Robotics: 12 DOF, quote only - Spot by Boston Dynamics: 12 DOF, $74,500 - ANYmal D by ANYbotics: 12 DOF, quote only - Vision 60 by Ghost Robotics: DOF not published, quote only - X30 by Deep Robotics: 12 DOF, quote only - Lite3 by Deep Robotics: 12 DOF, quote only - CyberDog 2 by Xiaomi: 12 DOF, quote only - RBQ-10 by Rainbow Robotics: DOF not published, quote only ## For AI agents - Index for language models: https://actuatorlist.com/llms.txt - REST API (JSON, no key): https://actuatorlist.com/api, spec at https://actuatorlist.com/openapi.json - MCP server (Streamable HTTP, no auth): https://actuatorlist.com/mcp - Every page has a markdown twin: append .md or send Accept: text/markdown.