--- title: "Humanoid joint map" description: "What actuator moves each joint of 21 humanoids, from Optimus to Unitree G1, with estimated magnet and rare-earth kg per robot." canonical: https://actuatorlist.com/humanoids last-updated: 2026-11-01T14:05:43.000Z --- # What moves each joint 21 humanoids mapped joint by joint onto one canonical joint set (neck, waist, and per side shoulder pitch, roll and yaw, elbow, wrist, hand, hip yaw, roll and pitch, knee, ankle pitch and roll): actuator type, motor, peak torque or force, and estimated magnet and rare-earth content. As of October 2026. Interactive version: https://actuatorlist.com/humanoids. JSON: https://actuatorlist.com/api/v1/humanoids. Confidence: "reported" figures come from the maker, its URDF or a cited spec page; "estimated" types and figures say what they were inferred from. Magnet and rare-earth masses are always estimated. ## Fleet | Robot | DOF | Actuators | Mix | Magnet kg | REE kg | Price | | --- | --- | --- | --- | --- | --- | --- | | Optimus Gen 2 (Tesla, 馃嚭馃嚫 United States) | 52 | 42 | 14 Harmonic, 14 Roller screw, 12 Tendon, 2 Undisclosed | 0.53 to 1.76 | 0.15 to 0.66 | n/a | | Figure 02 (Figure AI, 馃嚭馃嚫 United States) | n/a | 25 | 25 Undisclosed | 0.35 to 3.96 | 0.10 to 1.49 | n/a | | Atlas (electric) (Boston Dynamics, 馃嚭馃嚫 United States) | 56 | 26 | 26 Undisclosed | 0.50 to 4.36 | 0.14 to 1.64 | n/a | | Digit (Agility Robotics, 馃嚭馃嚫 United States) | 20 | 20 | 20 Undisclosed | 0.32 to 2.10 | 0.09 to 0.79 | n/a | | Apollo (Apptronik, 馃嚭馃嚫 United States) | n/a | 25 | 4 Ball screw, 21 Undisclosed | 0.40 to 3.96 | 0.11 to 1.49 | n/a | | NEO (1X Technologies, 馃嚭馃嚫 United States) | 75 | 73 | 73 Tendon | 0.84 to 2.22 | 0.23 to 0.83 | $20,000 | | Phoenix Gen 7 (Sanctuary AI, 馃嚚馃嚘 Canada) | n/a | 55 | 42 Hydraulic, 13 Undisclosed | 0.16 to 0.93 | 0.05 to 0.35 | n/a | | G1 (Unitree Robotics, 馃嚚馃嚦 China) | 23 | 23 | 23 Planetary | 0.67 to 1.23 | 0.19 to 0.46 | $13,500 | | H1 (Unitree Robotics, 馃嚚馃嚦 China) | 19 | 19 | 19 Planetary | 0.59 to 2.70 | 0.17 to 1.01 | $90,000 | | H2 (Unitree Robotics, 馃嚚馃嚦 China) | 31 | 31 | 29 Planetary, 2 Undisclosed | 1.18 to 4.86 | 0.33 to 1.83 | $29,900 | | T1 (Booster Robotics, 馃嚚馃嚦 China) | 23 | 23 | 23 Undisclosed | 0.32 to 1.94 | 0.09 to 0.73 | n/a | | K1 (Booster Robotics, 馃嚚馃嚦 China) | 22 | 22 | 22 Undisclosed | 0.24 to 1.29 | 0.07 to 0.48 | n/a | | Walker S2 (UBTECH Robotics, 馃嚚馃嚦 China) | 52 | 42 | 42 Undisclosed | 0.46 to 3.16 | 0.13 to 1.19 | n/a | | X1 (AgiBot, 馃嚚馃嚦 China) | 34 | 29 | 25 Rotary QDD, 4 Undisclosed | 1.92 to 4.13 | 0.54 to 1.55 | n/a | | GR-1 (Fourier, 馃嚚馃嚦 China) | 44 | 44 | 44 Undisclosed | 0.49 to 2.51 | 0.14 to 0.94 | n/a | | GR-2 (Fourier, 馃嚚馃嚦 China) | 53 | 29 | 29 Undisclosed | 0.45 to 2.54 | 0.13 to 0.95 | n/a | | Forerunner K2 (Kepler, 馃嚚馃嚦 China) | 52 | 27 | 10 Roller screw, 17 Undisclosed | 0.46 to 3.31 | 0.13 to 1.25 | n/a | | IRON (XPeng, 馃嚚馃嚦 China) | 82 | 27 | 27 Undisclosed | 0.36 to 2.98 | 0.10 to 1.12 | n/a | | K-Bot (K-Scale Labs, 馃嚭馃嚫 United States) | 20 | 20 | 20 Rotary QDD | 1.16 to 2.01 | 0.32 to 0.76 | n/a | | Berkeley Humanoid Lite (UC Berkeley Hybrid Robotics, 馃嚭馃嚫 United States) | 22 | 22 | 22 Cycloidal | 0.35 to 0.67 | 0.10 to 0.25 | n/a | | Asimov 1 (Menlo Research, 馃嚫馃嚞 Singapore) | 25 | 25 | 17 Planetary, 8 Harmonic | 0.56 to 1.05 | 0.16 to 0.39 | $15,000 | ## Optimus Gen 2 (Tesla) 28 structural actuators built from six designs: rotary at 20, 110 and 180 N路m, roller-screw linear at 500, 3,900 and 8,000 N. DOF counts the 28, a 2-DOF neck and two 11-DOF hands. - **Country:** 馃嚭馃嚫 United States - **Actuators:** 42 (14 Harmonic, 14 Roller screw, 12 Tendon, 2 Undisclosed) - **DOF:** 52 - **Magnet:** 0.53 to 1.76 kg NdFeB (estimated) - **Rare earths:** 0.15 to 0.66 kg (Nd 0.115 to 0.450, Pr 0.031 to 0.141, Dy 0.002 to 0.053, Tb 0.000 to 0.018) Estimated types rest on: 14 rotary units at shoulders, wrists, hips and waist with strain-wave reducers, per secondary accounts of AI Day 2022; Tesla has not published the per-joint layout / 14 inverted planetary roller screws: 2 in the elbows, 4 in the wrists, 8 in the legs, per secondary accounts; per-joint force class not published / Gen 2 added a 2-DOF neck; its actuator is not published / forearm motors pulling tendons, per Humanoid Atlas and Gen 3 hand coverage. | Joint | Count | Type | Motor | Peak | At motor | Magnet g | Sources | | --- | --- | --- | --- | --- | --- | --- | --- | | Left shoulder pitch | 1 | Harmonic (estimated) | | 110 N路m (estimated) | 1.72 N路m (80:1, modeled) | 15.8 to 71.3 | [Humanoid.guide: linear vs rotary actuators, why Tesla bet on the roller screw](https://humanoid.guide/linear-vs-rotary-actuators-humanoid-joints/); [Firgelli: how Tesla Bot actuators work](https://www.firgelliauto.com/en-nl/blogs/actuators/how-do-tesla-bot-actuators-actually-work); [Optimusk: Optimus actuators and degrees of freedom](https://optimusk.blog/blog/tesla-optimus-degrees-of-freedom-actuators/) | | Right shoulder pitch | 1 | Harmonic (estimated) | | 110 N路m (estimated) | 1.72 N路m (80:1, modeled) | 15.8 to 71.3 | [Humanoid.guide: linear vs rotary actuators, why Tesla bet on the roller screw](https://humanoid.guide/linear-vs-rotary-actuators-humanoid-joints/); [Firgelli: how Tesla Bot actuators work](https://www.firgelliauto.com/en-nl/blogs/actuators/how-do-tesla-bot-actuators-actually-work); [Optimusk: Optimus actuators and degrees of freedom](https://optimusk.blog/blog/tesla-optimus-degrees-of-freedom-actuators/) | | Left shoulder roll | 1 | Harmonic (estimated) | | 110 N路m (estimated) | 1.72 N路m (80:1, modeled) | 15.8 to 71.3 | [Humanoid.guide: linear vs rotary actuators, why Tesla bet on the roller screw](https://humanoid.guide/linear-vs-rotary-actuators-humanoid-joints/); [Firgelli: how Tesla Bot actuators work](https://www.firgelliauto.com/en-nl/blogs/actuators/how-do-tesla-bot-actuators-actually-work); [Optimusk: Optimus actuators and degrees of freedom](https://optimusk.blog/blog/tesla-optimus-degrees-of-freedom-actuators/) | | Right shoulder roll | 1 | Harmonic (estimated) | | 110 N路m (estimated) | 1.72 N路m (80:1, modeled) | 15.8 to 71.3 | [Humanoid.guide: linear vs rotary actuators, why Tesla bet on the roller screw](https://humanoid.guide/linear-vs-rotary-actuators-humanoid-joints/); [Firgelli: how Tesla Bot actuators work](https://www.firgelliauto.com/en-nl/blogs/actuators/how-do-tesla-bot-actuators-actually-work); [Optimusk: Optimus actuators and degrees of freedom](https://optimusk.blog/blog/tesla-optimus-degrees-of-freedom-actuators/) | | Left shoulder yaw | 1 | Harmonic (estimated) | | 20 N路m (estimated) | 0.31 N路m (80:1, modeled) | 5.4 to 30.5 | [Humanoid.guide: linear vs rotary actuators, why Tesla bet on the roller screw](https://humanoid.guide/linear-vs-rotary-actuators-humanoid-joints/); [Firgelli: how Tesla Bot actuators work](https://www.firgelliauto.com/en-nl/blogs/actuators/how-do-tesla-bot-actuators-actually-work); [Optimusk: Optimus actuators and degrees of freedom](https://optimusk.blog/blog/tesla-optimus-degrees-of-freedom-actuators/) | | Right shoulder yaw | 1 | Harmonic (estimated) | | 20 N路m (estimated) | 0.31 N路m (80:1, modeled) | 5.4 to 30.5 | [Humanoid.guide: linear vs rotary actuators, why Tesla bet on the roller screw](https://humanoid.guide/linear-vs-rotary-actuators-humanoid-joints/); [Firgelli: how Tesla Bot actuators work](https://www.firgelliauto.com/en-nl/blogs/actuators/how-do-tesla-bot-actuators-actually-work); [Optimusk: Optimus actuators and degrees of freedom](https://optimusk.blog/blog/tesla-optimus-degrees-of-freedom-actuators/) | | Left wrist | 1 | Harmonic (estimated) | | 20 N路m (estimated) | 0.31 N路m (80:1, modeled) | 5.4 to 30.5 | [Humanoid.guide: linear vs rotary actuators, why Tesla bet on the roller screw](https://humanoid.guide/linear-vs-rotary-actuators-humanoid-joints/); [Firgelli: how Tesla Bot actuators work](https://www.firgelliauto.com/en-nl/blogs/actuators/how-do-tesla-bot-actuators-actually-work); [Optimusk: Optimus actuators and degrees of freedom](https://optimusk.blog/blog/tesla-optimus-degrees-of-freedom-actuators/) | | Right wrist | 1 | Harmonic (estimated) | | 20 N路m (estimated) | 0.31 N路m (80:1, modeled) | 5.4 to 30.5 | [Humanoid.guide: linear vs rotary actuators, why Tesla bet on the roller screw](https://humanoid.guide/linear-vs-rotary-actuators-humanoid-joints/); [Firgelli: how Tesla Bot actuators work](https://www.firgelliauto.com/en-nl/blogs/actuators/how-do-tesla-bot-actuators-actually-work); [Optimusk: Optimus actuators and degrees of freedom](https://optimusk.blog/blog/tesla-optimus-degrees-of-freedom-actuators/) | | Left hip yaw | 1 | Harmonic (estimated) | | 180 N路m (estimated) | 2.81 N路m (80:1, modeled) | 15.8 to 71.3 | [Humanoid.guide: linear vs rotary actuators, why Tesla bet on the roller screw](https://humanoid.guide/linear-vs-rotary-actuators-humanoid-joints/); [Firgelli: how Tesla Bot actuators work](https://www.firgelliauto.com/en-nl/blogs/actuators/how-do-tesla-bot-actuators-actually-work); [Optimusk: Optimus actuators and degrees of freedom](https://optimusk.blog/blog/tesla-optimus-degrees-of-freedom-actuators/) | | Right hip yaw | 1 | Harmonic (estimated) | | 180 N路m (estimated) | 2.81 N路m (80:1, modeled) | 15.8 to 71.3 | [Humanoid.guide: linear vs rotary actuators, why Tesla bet on the roller screw](https://humanoid.guide/linear-vs-rotary-actuators-humanoid-joints/); [Firgelli: how Tesla Bot actuators work](https://www.firgelliauto.com/en-nl/blogs/actuators/how-do-tesla-bot-actuators-actually-work); [Optimusk: Optimus actuators and degrees of freedom](https://optimusk.blog/blog/tesla-optimus-degrees-of-freedom-actuators/) | | Left hip roll | 1 | Harmonic (estimated) | | 180 N路m (estimated) | 2.81 N路m (80:1, modeled) | 15.8 to 71.3 | [Humanoid.guide: linear vs rotary actuators, why Tesla bet on the roller screw](https://humanoid.guide/linear-vs-rotary-actuators-humanoid-joints/); [Firgelli: how Tesla Bot actuators work](https://www.firgelliauto.com/en-nl/blogs/actuators/how-do-tesla-bot-actuators-actually-work); [Optimusk: Optimus actuators and degrees of freedom](https://optimusk.blog/blog/tesla-optimus-degrees-of-freedom-actuators/) | | Right hip roll | 1 | Harmonic (estimated) | | 180 N路m (estimated) | 2.81 N路m (80:1, modeled) | 15.8 to 71.3 | [Humanoid.guide: linear vs rotary actuators, why Tesla bet on the roller screw](https://humanoid.guide/linear-vs-rotary-actuators-humanoid-joints/); [Firgelli: how Tesla Bot actuators work](https://www.firgelliauto.com/en-nl/blogs/actuators/how-do-tesla-bot-actuators-actually-work); [Optimusk: Optimus actuators and degrees of freedom](https://optimusk.blog/blog/tesla-optimus-degrees-of-freedom-actuators/) | | Waist | 2 | Harmonic (estimated) | | 180 N路m (estimated) | 2.81 N路m (80:1, modeled) | 31.6 to 142.6 | [Humanoid.guide: linear vs rotary actuators, why Tesla bet on the roller screw](https://humanoid.guide/linear-vs-rotary-actuators-humanoid-joints/); [Firgelli: how Tesla Bot actuators work](https://www.firgelliauto.com/en-nl/blogs/actuators/how-do-tesla-bot-actuators-actually-work); [Optimusk: Optimus actuators and degrees of freedom](https://optimusk.blog/blog/tesla-optimus-degrees-of-freedom-actuators/) | | Left elbow | 1 | Roller screw (estimated) | | 3900 N (estimated) | 2.19 N路m (3 mm lead, modeled) | 15.8 to 71.3 | [Humanoid.guide: linear vs rotary actuators, why Tesla bet on the roller screw](https://humanoid.guide/linear-vs-rotary-actuators-humanoid-joints/); [Firgelli: how Tesla Bot actuators work](https://www.firgelliauto.com/en-nl/blogs/actuators/how-do-tesla-bot-actuators-actually-work); [Optimusk: Optimus actuators and degrees of freedom](https://optimusk.blog/blog/tesla-optimus-degrees-of-freedom-actuators/) | | Right elbow | 1 | Roller screw (estimated) | | 3900 N (estimated) | 2.19 N路m (3 mm lead, modeled) | 15.8 to 71.3 | [Humanoid.guide: linear vs rotary actuators, why Tesla bet on the roller screw](https://humanoid.guide/linear-vs-rotary-actuators-humanoid-joints/); [Firgelli: how Tesla Bot actuators work](https://www.firgelliauto.com/en-nl/blogs/actuators/how-do-tesla-bot-actuators-actually-work); [Optimusk: Optimus actuators and degrees of freedom](https://optimusk.blog/blog/tesla-optimus-degrees-of-freedom-actuators/) | | Left ankle pitch | 1 | Roller screw (estimated) | | 3900 N (estimated) | 2.19 N路m (3 mm lead, modeled) | 15.8 to 71.3 | [Humanoid.guide: linear vs rotary actuators, why Tesla bet on the roller screw](https://humanoid.guide/linear-vs-rotary-actuators-humanoid-joints/); [Firgelli: how Tesla Bot actuators work](https://www.firgelliauto.com/en-nl/blogs/actuators/how-do-tesla-bot-actuators-actually-work); [Optimusk: Optimus actuators and degrees of freedom](https://optimusk.blog/blog/tesla-optimus-degrees-of-freedom-actuators/) | | Right ankle pitch | 1 | Roller screw (estimated) | | 3900 N (estimated) | 2.19 N路m (3 mm lead, modeled) | 15.8 to 71.3 | [Humanoid.guide: linear vs rotary actuators, why Tesla bet on the roller screw](https://humanoid.guide/linear-vs-rotary-actuators-humanoid-joints/); [Firgelli: how Tesla Bot actuators work](https://www.firgelliauto.com/en-nl/blogs/actuators/how-do-tesla-bot-actuators-actually-work); [Optimusk: Optimus actuators and degrees of freedom](https://optimusk.blog/blog/tesla-optimus-degrees-of-freedom-actuators/) | | Left ankle roll | 1 | Roller screw (estimated) | | 3900 N (estimated) | 2.19 N路m (3 mm lead, modeled) | 15.8 to 71.3 | [Humanoid.guide: linear vs rotary actuators, why Tesla bet on the roller screw](https://humanoid.guide/linear-vs-rotary-actuators-humanoid-joints/); [Firgelli: how Tesla Bot actuators work](https://www.firgelliauto.com/en-nl/blogs/actuators/how-do-tesla-bot-actuators-actually-work); [Optimusk: Optimus actuators and degrees of freedom](https://optimusk.blog/blog/tesla-optimus-degrees-of-freedom-actuators/) | | Right ankle roll | 1 | Roller screw (estimated) | | 3900 N (estimated) | 2.19 N路m (3 mm lead, modeled) | 15.8 to 71.3 | [Humanoid.guide: linear vs rotary actuators, why Tesla bet on the roller screw](https://humanoid.guide/linear-vs-rotary-actuators-humanoid-joints/); [Firgelli: how Tesla Bot actuators work](https://www.firgelliauto.com/en-nl/blogs/actuators/how-do-tesla-bot-actuators-actually-work); [Optimusk: Optimus actuators and degrees of freedom](https://optimusk.blog/blog/tesla-optimus-degrees-of-freedom-actuators/) | | Left wrist | 2 | Roller screw (estimated) | | 500 N (estimated) | 0.28 N路m (3 mm lead, modeled) | 10.8 to 23.4 | [Humanoid.guide: linear vs rotary actuators, why Tesla bet on the roller screw](https://humanoid.guide/linear-vs-rotary-actuators-humanoid-joints/); [Firgelli: how Tesla Bot actuators work](https://www.firgelliauto.com/en-nl/blogs/actuators/how-do-tesla-bot-actuators-actually-work); [Optimusk: Optimus actuators and degrees of freedom](https://optimusk.blog/blog/tesla-optimus-degrees-of-freedom-actuators/) | | Right wrist | 2 | Roller screw (estimated) | | 500 N (estimated) | 0.28 N路m (3 mm lead, modeled) | 10.8 to 23.4 | [Humanoid.guide: linear vs rotary actuators, why Tesla bet on the roller screw](https://humanoid.guide/linear-vs-rotary-actuators-humanoid-joints/); [Firgelli: how Tesla Bot actuators work](https://www.firgelliauto.com/en-nl/blogs/actuators/how-do-tesla-bot-actuators-actually-work); [Optimusk: Optimus actuators and degrees of freedom](https://optimusk.blog/blog/tesla-optimus-degrees-of-freedom-actuators/) | | Left hip pitch | 1 | Roller screw (estimated) | | 8000 N (estimated) | 4.49 N路m (3 mm lead, modeled) | 39.6 to 71.3 | [Humanoid.guide: linear vs rotary actuators, why Tesla bet on the roller screw](https://humanoid.guide/linear-vs-rotary-actuators-humanoid-joints/); [Firgelli: how Tesla Bot actuators work](https://www.firgelliauto.com/en-nl/blogs/actuators/how-do-tesla-bot-actuators-actually-work); [Optimusk: Optimus actuators and degrees of freedom](https://optimusk.blog/blog/tesla-optimus-degrees-of-freedom-actuators/) | | Right hip pitch | 1 | Roller screw (estimated) | | 8000 N (estimated) | 4.49 N路m (3 mm lead, modeled) | 39.6 to 71.3 | [Humanoid.guide: linear vs rotary actuators, why Tesla bet on the roller screw](https://humanoid.guide/linear-vs-rotary-actuators-humanoid-joints/); [Firgelli: how Tesla Bot actuators work](https://www.firgelliauto.com/en-nl/blogs/actuators/how-do-tesla-bot-actuators-actually-work); [Optimusk: Optimus actuators and degrees of freedom](https://optimusk.blog/blog/tesla-optimus-degrees-of-freedom-actuators/) | | Left knee | 1 | Roller screw (estimated) | | 8000 N (estimated) | 4.49 N路m (3 mm lead, modeled) | 39.6 to 71.3 | [Humanoid.guide: linear vs rotary actuators, why Tesla bet on the roller screw](https://humanoid.guide/linear-vs-rotary-actuators-humanoid-joints/); [Firgelli: how Tesla Bot actuators work](https://www.firgelliauto.com/en-nl/blogs/actuators/how-do-tesla-bot-actuators-actually-work); [Optimusk: Optimus actuators and degrees of freedom](https://optimusk.blog/blog/tesla-optimus-degrees-of-freedom-actuators/) | | Right knee | 1 | Roller screw (estimated) | | 8000 N (estimated) | 4.49 N路m (3 mm lead, modeled) | 39.6 to 71.3 | [Humanoid.guide: linear vs rotary actuators, why Tesla bet on the roller screw](https://humanoid.guide/linear-vs-rotary-actuators-humanoid-joints/); [Firgelli: how Tesla Bot actuators work](https://www.firgelliauto.com/en-nl/blogs/actuators/how-do-tesla-bot-actuators-actually-work); [Optimusk: Optimus actuators and degrees of freedom](https://optimusk.blog/blog/tesla-optimus-degrees-of-freedom-actuators/) | | Neck | 2 | Undisclosed (estimated) | | | 0.24 N路m (25:1, modeled) | 10.8 to 23.4 | [Humanoid.guide: Optimus Gen 2 spec page](https://humanoid.guide/product/optimus-gen2) | | Left hand | 6 | Tendon (estimated) | | | 0.28 N路m (22:1, modeled) | 32.4 to 70.2 | [Basenor: Optimus hands, 11 DoF with 6 active (Gen 2)](https://www.basenor.com/blogs/news/tesla-optimus-gen-3-hands-22-dof-50-actuators-explained); [Humanoid Atlas: OEM actuator data (Optimus hand: motor + tendon drive)](https://github.com/kingjulio8238/humanoid-atlas) | | Right hand | 6 | Tendon (estimated) | | | 0.28 N路m (22:1, modeled) | 32.4 to 70.2 | [Basenor: Optimus hands, 11 DoF with 6 active (Gen 2)](https://www.basenor.com/blogs/news/tesla-optimus-gen-3-hands-22-dof-50-actuators-explained); [Humanoid Atlas: OEM actuator data (Optimus hand: motor + tendon drive)](https://github.com/kingjulio8238/humanoid-atlas) | ### Rare earth by actuator (estimated) | Design | Count | Nd g | Pr g | Dy g | Tb g | Total g | Metal value US$ | | --- | --- | --- | --- | --- | --- | --- | --- | | Harmonic 180 N路m | 6 | 79 | 23 | 6 | 2 | 109 (26 to 161) | $17.65 ($3.80 to $31.56) | | Roller screw 3,900 N | 6 | 79 | 23 | 6 | 2 | 109 (26 to 161) | $17.65 ($3.80 to $31.56) | | Roller screw 8,000 N | 4 | 53 | 15 | 4 | 1 | 73 (44 to 107) | $11.77 ($6.34 to $21.04) | | Hand (tendon) | 12 | 24 | 7 | 2 | 1 | 33 (18 to 53) | $5.41 ($2.59 to $10.36) | | Harmonic 110 N路m | 4 | 22 | 6 | 2 | 0 | 30 (18 to 107) | $4.92 ($2.53 to $21.04) | | Harmonic 20 N路m | 4 | 8 | 2 | 1 | 0 | 11 (6 to 46) | $1.82 ($0.86 to $9.00) | | Roller screw 500 N | 4 | 8 | 2 | 1 | 0 | 11 (6 to 18) | $1.82 ($0.86 to $3.45) | | Undisclosed, XS class | 2 | 4 | 1 | 0 | 0 | 6 (3 to 9) | $0.91 ($0.43 to $1.73) | ### Robot BOM | Group | Part | Count | Unit cost | Subtotal | Share | Source | | --- | --- | --- | --- | --- | --- | --- | | Actuator | Harmonic 180 N路m | 6 | $565 to $1,100 (estimated) | $3,393 to $6,600 | 18% | [Huibo research via Zhihu: Optimus hardware BOM (rotary 57k, linear 44k, hands 20k CNY)](https://zhuanlan.zhihu.com/p/687045590); [XenoSpectrum on Morgan Stanley: Optimus Gen 2 BOM about $55k, actuators 56%, hands $9.5k](https://xenospectrum.com/en/humanoid-robot-bom-actuator-cost/) | | Actuator | Hand (tendon) | 12 | $231 to $792 (estimated) | $2,778 to $9,500 | 15% | [Huibo research via Zhihu: Optimus hardware BOM (rotary 57k, linear 44k, hands 20k CNY)](https://zhuanlan.zhihu.com/p/687045590); [XenoSpectrum on Morgan Stanley: Optimus Gen 2 BOM about $55k, actuators 56%, hands $9.5k](https://xenospectrum.com/en/humanoid-robot-bom-actuator-cost/) | | Actuator | Roller screw 3,900 N | 6 | $437 to $1,100 (estimated) | $2,619 to $6,600 | 14% | [Huibo research via Zhihu: Optimus hardware BOM (rotary 57k, linear 44k, hands 20k CNY)](https://zhuanlan.zhihu.com/p/687045590); [XenoSpectrum on Morgan Stanley: Optimus Gen 2 BOM about $55k, actuators 56%, hands $9.5k](https://xenospectrum.com/en/humanoid-robot-bom-actuator-cost/) | | Actuator | Harmonic 110 N路m | 4 | $565 to $1,100 (estimated) | $2,262 to $4,400 | 12% | [Huibo research via Zhihu: Optimus hardware BOM (rotary 57k, linear 44k, hands 20k CNY)](https://zhuanlan.zhihu.com/p/687045590); [XenoSpectrum on Morgan Stanley: Optimus Gen 2 BOM about $55k, actuators 56%, hands $9.5k](https://xenospectrum.com/en/humanoid-robot-bom-actuator-cost/) | | Actuator | Harmonic 20 N路m | 4 | $565 to $1,100 (estimated) | $2,262 to $4,400 | 12% | [Huibo research via Zhihu: Optimus hardware BOM (rotary 57k, linear 44k, hands 20k CNY)](https://zhuanlan.zhihu.com/p/687045590); [XenoSpectrum on Morgan Stanley: Optimus Gen 2 BOM about $55k, actuators 56%, hands $9.5k](https://xenospectrum.com/en/humanoid-robot-bom-actuator-cost/) | | Actuator | Roller screw 500 N | 4 | $437 to $1,100 (estimated) | $1,746 to $4,400 | 9% | [Huibo research via Zhihu: Optimus hardware BOM (rotary 57k, linear 44k, hands 20k CNY)](https://zhuanlan.zhihu.com/p/687045590); [XenoSpectrum on Morgan Stanley: Optimus Gen 2 BOM about $55k, actuators 56%, hands $9.5k](https://xenospectrum.com/en/humanoid-robot-bom-actuator-cost/) | | Actuator | Roller screw 8,000 N | 4 | $437 to $1,100 (estimated) | $1,746 to $4,400 | 9% | [Huibo research via Zhihu: Optimus hardware BOM (rotary 57k, linear 44k, hands 20k CNY)](https://zhuanlan.zhihu.com/p/687045590); [XenoSpectrum on Morgan Stanley: Optimus Gen 2 BOM about $55k, actuators 56%, hands $9.5k](https://xenospectrum.com/en/humanoid-robot-bom-actuator-cost/) | | Rest of robot | All other parts (not itemized) | 1 | $1,944 to $24,200 (estimated) | $1,944 to $24,200 | 10% | [Huibo research via Zhihu: Optimus hardware BOM (rotary 57k, linear 44k, hands 20k CNY)](https://zhuanlan.zhihu.com/p/687045590); [XenoSpectrum on Morgan Stanley: Optimus Gen 2 BOM about $55k, actuators 56%, hands $9.5k](https://xenospectrum.com/en/humanoid-robot-bom-actuator-cost/) | Actuators: $16,806 to $40,300. Whole robot: $18,750 to $64,500, actuators 90%. Actuator mass: 9.6 kg to 19.5 kg, largest share Harmonic 180 N路m (13%), rest of robot 37.5 kg to 47.4 kg (published weight minus actuators). Magnet: 0.530 kg to 1.759 kg, largest share Harmonic 180 N路m (28%). Not costed: Undisclosed, XS class x2 (micro motor: no defensible unit cost). ## Figure 02 (Figure AI) 70 kg general-purpose humanoid with in-house electric actuators. The launch teaser showed joints up to 150 N路m and 16-DOF hands. - **Country:** 馃嚭馃嚫 United States - **Actuators:** 25 (25 Undisclosed) - **DOF:** not published - **Magnet:** 0.35 to 3.96 kg NdFeB (estimated) - **Rare earths:** 0.10 to 1.49 kg (Nd 0.077 to 1.013, Pr 0.020 to 0.317, Dy 0.001 to 0.119, Tb 0.000 to 0.040) - **Not counted:** 16-DOF hands: actuator count not published. Estimated types rest on: Figure has not published its actuators; joint layout read from the launch video. | Joint | Count | Type | Motor | Peak | At motor | Magnet g | Sources | | --- | --- | --- | --- | --- | --- | --- | --- | | Left hip pitch | 1 | Undisclosed (estimated) | | 150 N路m (estimated) | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [Interesting Engineering: Figure 02 (150 N路m teaser, 16-DOF hands)](https://interestingengineering.com/innovation/figure-02-worlds-most-advanced-humanoid-robot); [QVIRO: Figure 02 specifications](https://qviro.com/product/figure/figure-02/specifications) | | Right hip pitch | 1 | Undisclosed (estimated) | | 150 N路m (estimated) | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [Interesting Engineering: Figure 02 (150 N路m teaser, 16-DOF hands)](https://interestingengineering.com/innovation/figure-02-worlds-most-advanced-humanoid-robot); [QVIRO: Figure 02 specifications](https://qviro.com/product/figure/figure-02/specifications) | | Left knee | 1 | Undisclosed (estimated) | | 150 N路m (estimated) | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [Interesting Engineering: Figure 02 (150 N路m teaser, 16-DOF hands)](https://interestingengineering.com/innovation/figure-02-worlds-most-advanced-humanoid-robot); [QVIRO: Figure 02 specifications](https://qviro.com/product/figure/figure-02/specifications) | | Right knee | 1 | Undisclosed (estimated) | | 150 N路m (estimated) | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [Interesting Engineering: Figure 02 (150 N路m teaser, 16-DOF hands)](https://interestingengineering.com/innovation/figure-02-worlds-most-advanced-humanoid-robot); [QVIRO: Figure 02 specifications](https://qviro.com/product/figure/figure-02/specifications) | | Left hip yaw | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [Interesting Engineering: Figure 02 (150 N路m teaser, 16-DOF hands)](https://interestingengineering.com/innovation/figure-02-worlds-most-advanced-humanoid-robot); [QVIRO: Figure 02 specifications](https://qviro.com/product/figure/figure-02/specifications) | | Right hip yaw | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [Interesting Engineering: Figure 02 (150 N路m teaser, 16-DOF hands)](https://interestingengineering.com/innovation/figure-02-worlds-most-advanced-humanoid-robot); [QVIRO: Figure 02 specifications](https://qviro.com/product/figure/figure-02/specifications) | | Left hip roll | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [Interesting Engineering: Figure 02 (150 N路m teaser, 16-DOF hands)](https://interestingengineering.com/innovation/figure-02-worlds-most-advanced-humanoid-robot); [QVIRO: Figure 02 specifications](https://qviro.com/product/figure/figure-02/specifications) | | Right hip roll | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [Interesting Engineering: Figure 02 (150 N路m teaser, 16-DOF hands)](https://interestingengineering.com/innovation/figure-02-worlds-most-advanced-humanoid-robot); [QVIRO: Figure 02 specifications](https://qviro.com/product/figure/figure-02/specifications) | | Waist | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [Interesting Engineering: Figure 02 (150 N路m teaser, 16-DOF hands)](https://interestingengineering.com/innovation/figure-02-worlds-most-advanced-humanoid-robot); [QVIRO: Figure 02 specifications](https://qviro.com/product/figure/figure-02/specifications) | | Left shoulder pitch | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [Interesting Engineering: Figure 02 (150 N路m teaser, 16-DOF hands)](https://interestingengineering.com/innovation/figure-02-worlds-most-advanced-humanoid-robot); [QVIRO: Figure 02 specifications](https://qviro.com/product/figure/figure-02/specifications) | | Right shoulder pitch | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [Interesting Engineering: Figure 02 (150 N路m teaser, 16-DOF hands)](https://interestingengineering.com/innovation/figure-02-worlds-most-advanced-humanoid-robot); [QVIRO: Figure 02 specifications](https://qviro.com/product/figure/figure-02/specifications) | | Left shoulder roll | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [Interesting Engineering: Figure 02 (150 N路m teaser, 16-DOF hands)](https://interestingengineering.com/innovation/figure-02-worlds-most-advanced-humanoid-robot); [QVIRO: Figure 02 specifications](https://qviro.com/product/figure/figure-02/specifications) | | Right shoulder roll | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [Interesting Engineering: Figure 02 (150 N路m teaser, 16-DOF hands)](https://interestingengineering.com/innovation/figure-02-worlds-most-advanced-humanoid-robot); [QVIRO: Figure 02 specifications](https://qviro.com/product/figure/figure-02/specifications) | | Left shoulder yaw | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Interesting Engineering: Figure 02 (150 N路m teaser, 16-DOF hands)](https://interestingengineering.com/innovation/figure-02-worlds-most-advanced-humanoid-robot); [QVIRO: Figure 02 specifications](https://qviro.com/product/figure/figure-02/specifications) | | Right shoulder yaw | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Interesting Engineering: Figure 02 (150 N路m teaser, 16-DOF hands)](https://interestingengineering.com/innovation/figure-02-worlds-most-advanced-humanoid-robot); [QVIRO: Figure 02 specifications](https://qviro.com/product/figure/figure-02/specifications) | | Left elbow | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Interesting Engineering: Figure 02 (150 N路m teaser, 16-DOF hands)](https://interestingengineering.com/innovation/figure-02-worlds-most-advanced-humanoid-robot); [QVIRO: Figure 02 specifications](https://qviro.com/product/figure/figure-02/specifications) | | Right elbow | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Interesting Engineering: Figure 02 (150 N路m teaser, 16-DOF hands)](https://interestingengineering.com/innovation/figure-02-worlds-most-advanced-humanoid-robot); [QVIRO: Figure 02 specifications](https://qviro.com/product/figure/figure-02/specifications) | | Left ankle pitch | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Interesting Engineering: Figure 02 (150 N路m teaser, 16-DOF hands)](https://interestingengineering.com/innovation/figure-02-worlds-most-advanced-humanoid-robot); [QVIRO: Figure 02 specifications](https://qviro.com/product/figure/figure-02/specifications) | | Right ankle pitch | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Interesting Engineering: Figure 02 (150 N路m teaser, 16-DOF hands)](https://interestingengineering.com/innovation/figure-02-worlds-most-advanced-humanoid-robot); [QVIRO: Figure 02 specifications](https://qviro.com/product/figure/figure-02/specifications) | | Left ankle roll | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Interesting Engineering: Figure 02 (150 N路m teaser, 16-DOF hands)](https://interestingengineering.com/innovation/figure-02-worlds-most-advanced-humanoid-robot); [QVIRO: Figure 02 specifications](https://qviro.com/product/figure/figure-02/specifications) | | Right ankle roll | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Interesting Engineering: Figure 02 (150 N路m teaser, 16-DOF hands)](https://interestingengineering.com/innovation/figure-02-worlds-most-advanced-humanoid-robot); [QVIRO: Figure 02 specifications](https://qviro.com/product/figure/figure-02/specifications) | | Left wrist | 2 | Undisclosed (estimated) | | | 1.18 N路m (25:1, modeled) | 10.8 to 142.6 | [Interesting Engineering: Figure 02 (150 N路m teaser, 16-DOF hands)](https://interestingengineering.com/innovation/figure-02-worlds-most-advanced-humanoid-robot); [QVIRO: Figure 02 specifications](https://qviro.com/product/figure/figure-02/specifications) | | Right wrist | 2 | Undisclosed (estimated) | | | 1.18 N路m (25:1, modeled) | 10.8 to 142.6 | [Interesting Engineering: Figure 02 (150 N路m teaser, 16-DOF hands)](https://interestingengineering.com/innovation/figure-02-worlds-most-advanced-humanoid-robot); [QVIRO: Figure 02 specifications](https://qviro.com/product/figure/figure-02/specifications) | ### Rare earth by actuator (estimated) | Design | Count | Nd g | Pr g | Dy g | Tb g | Total g | Metal value US$ | | --- | --- | --- | --- | --- | --- | --- | --- | | Undisclosed, L class | 9 | 118 | 34 | 8 | 2 | 164 (40 to 807) | $26.48 ($5.69 to $158.42) | | Undisclosed, M class | 8 | 105 | 31 | 7 | 2 | 145 (35 to 214) | $23.53 ($5.06 to $42.08) | | Undisclosed 150 N路m | 4 | 53 | 15 | 4 | 1 | 73 (18 to 359) | $11.77 ($2.53 to $70.41) | | Undisclosed, S class | 4 | 22 | 6 | 2 | 0 | 30 (6 to 107) | $4.90 ($0.86 to $21.04) | ### Robot BOM | Group | Part | Count | Unit cost | Subtotal | Share | Source | | --- | --- | --- | --- | --- | --- | --- | | Actuator | Undisclosed, L class | 9 | $280 to $956 (modeled) | $2,523 to $8,601 | 42% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed, M class | 8 | $221 to $753 (modeled) | $1,768 to $6,026 | 29% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed 150 N路m | 4 | $280 to $956 (modeled) | $1,121 to $3,822 | 19% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed, S class | 4 | $160 to $546 (modeled) | $641 to $2,185 | 11% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | Actuators: $6,052 to $20,634. Non-actuator BOM not published. Actuator mass: 16.9 kg to 34.3 kg, largest share Undisclosed, L class (15%), rest of robot 35.7 kg to 53.1 kg (published weight minus actuators). Magnet: 0.353 kg to 3.957 kg, largest share Undisclosed, L class (40%). ## Atlas (electric) (Boston Dynamics) All-electric successor to hydraulic Atlas: 56 DOF, mostly fully rotational joints, 50 kg rated payload. Actuators co-developed with Hyundai Mobis. - **Country:** 馃嚭馃嚫 United States - **Actuators:** 26 (26 Undisclosed) - **DOF:** 56 - **Magnet:** 0.50 to 4.36 kg NdFeB (estimated) - **Rare earths:** 0.14 to 1.64 kg (Nd 0.109 to 1.117, Pr 0.029 to 0.349, Dy 0.002 to 0.131, Tb 0.000 to 0.044) - **Not counted:** Hands and extra rotation axes in the 56 DOF: actuators not published. Estimated types rest on: custom high-power rotary actuators at most joints; reducer types not published. | Joint | Count | Type | Motor | Peak | At motor | Magnet g | Sources | | --- | --- | --- | --- | --- | --- | --- | --- | | Left hip pitch | 1 | Undisclosed (estimated) | | | 11.76 N路m (25:1, modeled) | 39.6 to 238.6 | [TechCrunch: Boston Dynamics' Atlas goes electric](https://techcrunch.com/2024/04/17/boston-dynamics-atlas-humanoid-robot-goes-electric/); [POSCO Newsroom: production Atlas (56 DoF, 50 kg payload)](https://newsroom.posco.com/en/?p=27941) | | Right hip pitch | 1 | Undisclosed (estimated) | | | 11.76 N路m (25:1, modeled) | 39.6 to 238.6 | [TechCrunch: Boston Dynamics' Atlas goes electric](https://techcrunch.com/2024/04/17/boston-dynamics-atlas-humanoid-robot-goes-electric/); [POSCO Newsroom: production Atlas (56 DoF, 50 kg payload)](https://newsroom.posco.com/en/?p=27941) | | Left knee | 1 | Undisclosed (estimated) | | | 11.76 N路m (25:1, modeled) | 39.6 to 238.6 | [TechCrunch: Boston Dynamics' Atlas goes electric](https://techcrunch.com/2024/04/17/boston-dynamics-atlas-humanoid-robot-goes-electric/); [POSCO Newsroom: production Atlas (56 DoF, 50 kg payload)](https://newsroom.posco.com/en/?p=27941) | | Right knee | 1 | Undisclosed (estimated) | | | 11.76 N路m (25:1, modeled) | 39.6 to 238.6 | [TechCrunch: Boston Dynamics' Atlas goes electric](https://techcrunch.com/2024/04/17/boston-dynamics-atlas-humanoid-robot-goes-electric/); [POSCO Newsroom: production Atlas (56 DoF, 50 kg payload)](https://newsroom.posco.com/en/?p=27941) | | Left hip roll | 1 | Undisclosed (estimated) | | | 11.76 N路m (25:1, modeled) | 39.6 to 238.6 | [TechCrunch: Boston Dynamics' Atlas goes electric](https://techcrunch.com/2024/04/17/boston-dynamics-atlas-humanoid-robot-goes-electric/); [POSCO Newsroom: production Atlas (56 DoF, 50 kg payload)](https://newsroom.posco.com/en/?p=27941) | | Right hip roll | 1 | Undisclosed (estimated) | | | 11.76 N路m (25:1, modeled) | 39.6 to 238.6 | [TechCrunch: Boston Dynamics' Atlas goes electric](https://techcrunch.com/2024/04/17/boston-dynamics-atlas-humanoid-robot-goes-electric/); [POSCO Newsroom: production Atlas (56 DoF, 50 kg payload)](https://newsroom.posco.com/en/?p=27941) | | Left hip yaw | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [TechCrunch: Boston Dynamics' Atlas goes electric](https://techcrunch.com/2024/04/17/boston-dynamics-atlas-humanoid-robot-goes-electric/); [POSCO Newsroom: production Atlas (56 DoF, 50 kg payload)](https://newsroom.posco.com/en/?p=27941) | | Right hip yaw | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [TechCrunch: Boston Dynamics' Atlas goes electric](https://techcrunch.com/2024/04/17/boston-dynamics-atlas-humanoid-robot-goes-electric/); [POSCO Newsroom: production Atlas (56 DoF, 50 kg payload)](https://newsroom.posco.com/en/?p=27941) | | Waist | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [TechCrunch: Boston Dynamics' Atlas goes electric](https://techcrunch.com/2024/04/17/boston-dynamics-atlas-humanoid-robot-goes-electric/); [POSCO Newsroom: production Atlas (56 DoF, 50 kg payload)](https://newsroom.posco.com/en/?p=27941) | | Left shoulder pitch | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [TechCrunch: Boston Dynamics' Atlas goes electric](https://techcrunch.com/2024/04/17/boston-dynamics-atlas-humanoid-robot-goes-electric/); [POSCO Newsroom: production Atlas (56 DoF, 50 kg payload)](https://newsroom.posco.com/en/?p=27941) | | Right shoulder pitch | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [TechCrunch: Boston Dynamics' Atlas goes electric](https://techcrunch.com/2024/04/17/boston-dynamics-atlas-humanoid-robot-goes-electric/); [POSCO Newsroom: production Atlas (56 DoF, 50 kg payload)](https://newsroom.posco.com/en/?p=27941) | | Left shoulder roll | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [TechCrunch: Boston Dynamics' Atlas goes electric](https://techcrunch.com/2024/04/17/boston-dynamics-atlas-humanoid-robot-goes-electric/); [POSCO Newsroom: production Atlas (56 DoF, 50 kg payload)](https://newsroom.posco.com/en/?p=27941) | | Right shoulder roll | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [TechCrunch: Boston Dynamics' Atlas goes electric](https://techcrunch.com/2024/04/17/boston-dynamics-atlas-humanoid-robot-goes-electric/); [POSCO Newsroom: production Atlas (56 DoF, 50 kg payload)](https://newsroom.posco.com/en/?p=27941) | | Left ankle pitch | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [TechCrunch: Boston Dynamics' Atlas goes electric](https://techcrunch.com/2024/04/17/boston-dynamics-atlas-humanoid-robot-goes-electric/); [POSCO Newsroom: production Atlas (56 DoF, 50 kg payload)](https://newsroom.posco.com/en/?p=27941) | | Right ankle pitch | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [TechCrunch: Boston Dynamics' Atlas goes electric](https://techcrunch.com/2024/04/17/boston-dynamics-atlas-humanoid-robot-goes-electric/); [POSCO Newsroom: production Atlas (56 DoF, 50 kg payload)](https://newsroom.posco.com/en/?p=27941) | | Left shoulder yaw | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [TechCrunch: Boston Dynamics' Atlas goes electric](https://techcrunch.com/2024/04/17/boston-dynamics-atlas-humanoid-robot-goes-electric/); [POSCO Newsroom: production Atlas (56 DoF, 50 kg payload)](https://newsroom.posco.com/en/?p=27941) | | Right shoulder yaw | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [TechCrunch: Boston Dynamics' Atlas goes electric](https://techcrunch.com/2024/04/17/boston-dynamics-atlas-humanoid-robot-goes-electric/); [POSCO Newsroom: production Atlas (56 DoF, 50 kg payload)](https://newsroom.posco.com/en/?p=27941) | | Left elbow | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [TechCrunch: Boston Dynamics' Atlas goes electric](https://techcrunch.com/2024/04/17/boston-dynamics-atlas-humanoid-robot-goes-electric/); [POSCO Newsroom: production Atlas (56 DoF, 50 kg payload)](https://newsroom.posco.com/en/?p=27941) | | Right elbow | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [TechCrunch: Boston Dynamics' Atlas goes electric](https://techcrunch.com/2024/04/17/boston-dynamics-atlas-humanoid-robot-goes-electric/); [POSCO Newsroom: production Atlas (56 DoF, 50 kg payload)](https://newsroom.posco.com/en/?p=27941) | | Left ankle roll | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [TechCrunch: Boston Dynamics' Atlas goes electric](https://techcrunch.com/2024/04/17/boston-dynamics-atlas-humanoid-robot-goes-electric/); [POSCO Newsroom: production Atlas (56 DoF, 50 kg payload)](https://newsroom.posco.com/en/?p=27941) | | Right ankle roll | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [TechCrunch: Boston Dynamics' Atlas goes electric](https://techcrunch.com/2024/04/17/boston-dynamics-atlas-humanoid-robot-goes-electric/); [POSCO Newsroom: production Atlas (56 DoF, 50 kg payload)](https://newsroom.posco.com/en/?p=27941) | | Left wrist | 2 | Undisclosed (estimated) | | | 1.18 N路m (25:1, modeled) | 10.8 to 142.6 | [TechCrunch: Boston Dynamics' Atlas goes electric](https://techcrunch.com/2024/04/17/boston-dynamics-atlas-humanoid-robot-goes-electric/); [POSCO Newsroom: production Atlas (56 DoF, 50 kg payload)](https://newsroom.posco.com/en/?p=27941) | | Right wrist | 2 | Undisclosed (estimated) | | | 1.18 N路m (25:1, modeled) | 10.8 to 142.6 | [TechCrunch: Boston Dynamics' Atlas goes electric](https://techcrunch.com/2024/04/17/boston-dynamics-atlas-humanoid-robot-goes-electric/); [POSCO Newsroom: production Atlas (56 DoF, 50 kg payload)](https://newsroom.posco.com/en/?p=27941) | | Neck | 1 | Undisclosed (estimated) | | | 1.18 N路m (25:1, modeled) | 5.4 to 71.3 | [TechCrunch: Boston Dynamics' Atlas goes electric](https://techcrunch.com/2024/04/17/boston-dynamics-atlas-humanoid-robot-goes-electric/); [POSCO Newsroom: production Atlas (56 DoF, 50 kg payload)](https://newsroom.posco.com/en/?p=27941) | ### Rare earth by actuator (estimated) | Design | Count | Nd g | Pr g | Dy g | Tb g | Total g | Metal value US$ | | --- | --- | --- | --- | --- | --- | --- | --- | | Undisclosed, XL class | 6 | 153 | 45 | 11 | 3 | 211 (66 to 538) | $34.19 ($9.51 to $105.61) | | Undisclosed, L class | 9 | 118 | 34 | 8 | 2 | 164 (40 to 807) | $26.48 ($5.69 to $158.42) | | Undisclosed, M class | 6 | 79 | 23 | 6 | 2 | 109 (26 to 161) | $17.65 ($3.80 to $31.56) | | Undisclosed, S class | 5 | 27 | 8 | 2 | 1 | 38 (8 to 134) | $6.12 ($1.08 to $26.30) | ### Robot BOM | Group | Part | Count | Unit cost | Subtotal | Share | Source | | --- | --- | --- | --- | --- | --- | --- | | Actuator | Undisclosed, L class | 9 | $280 to $956 (modeled) | $2,523 to $8,601 | 38% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed, XL class | 6 | $329 to $1,121 (modeled) | $1,972 to $6,725 | 30% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed, M class | 6 | $221 to $753 (modeled) | $1,326 to $4,520 | 20% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed, S class | 5 | $160 to $546 (modeled) | $801 to $2,731 | 12% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | Actuators: $6,622 to $22,576. Non-actuator BOM not published. Actuator mass: 19.0 kg to 38.6 kg, largest share Undisclosed, L class (12%), rest of robot 51.4 kg to 71.0 kg (published weight minus actuators). Magnet: 0.502 kg to 4.363 kg, largest share Undisclosed, XL class (40%). ## Digit (Agility Robotics) Logistics biped with 20 actuators: 4 per arm, 6 per leg, four of them a larger design. Legs add 8 passive joints each (springs and linkages), so DOF counts actuated joints only. - **Country:** 馃嚭馃嚫 United States - **Actuators:** 20 (20 Undisclosed) - **DOF:** 20 - **Magnet:** 0.32 to 2.10 kg NdFeB (estimated) - **Rare earths:** 0.09 to 0.79 kg (Nd 0.069 to 0.536, Pr 0.018 to 0.168, Dy 0.001 to 0.063, Tb 0.000 to 0.021) Estimated types rest on: custom BLDC actuators with custom transmissions; reducer type not published; the four larger units are assumed at hip pitch and knee / custom BLDC actuators with custom transmissions; reducer type not published / custom BLDC actuators with custom transmissions; reducer type not published; toe A and toe B motors drive the foot. | Joint | Count | Type | Motor | Peak | At motor | Magnet g | Sources | | --- | --- | --- | --- | --- | --- | --- | --- | | Left hip pitch | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [Agility Robotics: how Digit moves (20 actuators, 4 large)](https://agilityrobotics.com/content/how-digit-moves-the-case-for-highly-effective-actuators); [arXiv 2408.08830: system identification for Digit (actuated joint list)](https://arxiv.org/pdf/2408.08830) | | Right hip pitch | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [Agility Robotics: how Digit moves (20 actuators, 4 large)](https://agilityrobotics.com/content/how-digit-moves-the-case-for-highly-effective-actuators); [arXiv 2408.08830: system identification for Digit (actuated joint list)](https://arxiv.org/pdf/2408.08830) | | Left knee | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [Agility Robotics: how Digit moves (20 actuators, 4 large)](https://agilityrobotics.com/content/how-digit-moves-the-case-for-highly-effective-actuators); [arXiv 2408.08830: system identification for Digit (actuated joint list)](https://arxiv.org/pdf/2408.08830) | | Right knee | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [Agility Robotics: how Digit moves (20 actuators, 4 large)](https://agilityrobotics.com/content/how-digit-moves-the-case-for-highly-effective-actuators); [arXiv 2408.08830: system identification for Digit (actuated joint list)](https://arxiv.org/pdf/2408.08830) | | Left hip yaw | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Agility Robotics: how Digit moves (20 actuators, 4 large)](https://agilityrobotics.com/content/how-digit-moves-the-case-for-highly-effective-actuators); [arXiv 2408.08830: system identification for Digit (actuated joint list)](https://arxiv.org/pdf/2408.08830) | | Right hip yaw | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Agility Robotics: how Digit moves (20 actuators, 4 large)](https://agilityrobotics.com/content/how-digit-moves-the-case-for-highly-effective-actuators); [arXiv 2408.08830: system identification for Digit (actuated joint list)](https://arxiv.org/pdf/2408.08830) | | Left hip roll | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Agility Robotics: how Digit moves (20 actuators, 4 large)](https://agilityrobotics.com/content/how-digit-moves-the-case-for-highly-effective-actuators); [arXiv 2408.08830: system identification for Digit (actuated joint list)](https://arxiv.org/pdf/2408.08830) | | Right hip roll | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Agility Robotics: how Digit moves (20 actuators, 4 large)](https://agilityrobotics.com/content/how-digit-moves-the-case-for-highly-effective-actuators); [arXiv 2408.08830: system identification for Digit (actuated joint list)](https://arxiv.org/pdf/2408.08830) | | Left shoulder pitch | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Agility Robotics: how Digit moves (20 actuators, 4 large)](https://agilityrobotics.com/content/how-digit-moves-the-case-for-highly-effective-actuators); [arXiv 2408.08830: system identification for Digit (actuated joint list)](https://arxiv.org/pdf/2408.08830) | | Right shoulder pitch | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Agility Robotics: how Digit moves (20 actuators, 4 large)](https://agilityrobotics.com/content/how-digit-moves-the-case-for-highly-effective-actuators); [arXiv 2408.08830: system identification for Digit (actuated joint list)](https://arxiv.org/pdf/2408.08830) | | Left shoulder roll | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Agility Robotics: how Digit moves (20 actuators, 4 large)](https://agilityrobotics.com/content/how-digit-moves-the-case-for-highly-effective-actuators); [arXiv 2408.08830: system identification for Digit (actuated joint list)](https://arxiv.org/pdf/2408.08830) | | Right shoulder roll | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Agility Robotics: how Digit moves (20 actuators, 4 large)](https://agilityrobotics.com/content/how-digit-moves-the-case-for-highly-effective-actuators); [arXiv 2408.08830: system identification for Digit (actuated joint list)](https://arxiv.org/pdf/2408.08830) | | Left shoulder yaw | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Agility Robotics: how Digit moves (20 actuators, 4 large)](https://agilityrobotics.com/content/how-digit-moves-the-case-for-highly-effective-actuators); [arXiv 2408.08830: system identification for Digit (actuated joint list)](https://arxiv.org/pdf/2408.08830) | | Right shoulder yaw | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Agility Robotics: how Digit moves (20 actuators, 4 large)](https://agilityrobotics.com/content/how-digit-moves-the-case-for-highly-effective-actuators); [arXiv 2408.08830: system identification for Digit (actuated joint list)](https://arxiv.org/pdf/2408.08830) | | Left elbow | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Agility Robotics: how Digit moves (20 actuators, 4 large)](https://agilityrobotics.com/content/how-digit-moves-the-case-for-highly-effective-actuators); [arXiv 2408.08830: system identification for Digit (actuated joint list)](https://arxiv.org/pdf/2408.08830) | | Right elbow | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Agility Robotics: how Digit moves (20 actuators, 4 large)](https://agilityrobotics.com/content/how-digit-moves-the-case-for-highly-effective-actuators); [arXiv 2408.08830: system identification for Digit (actuated joint list)](https://arxiv.org/pdf/2408.08830) | | Left ankle pitch | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Agility Robotics: how Digit moves (20 actuators, 4 large)](https://agilityrobotics.com/content/how-digit-moves-the-case-for-highly-effective-actuators); [arXiv 2408.08830: system identification for Digit (actuated joint list)](https://arxiv.org/pdf/2408.08830) | | Right ankle pitch | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Agility Robotics: how Digit moves (20 actuators, 4 large)](https://agilityrobotics.com/content/how-digit-moves-the-case-for-highly-effective-actuators); [arXiv 2408.08830: system identification for Digit (actuated joint list)](https://arxiv.org/pdf/2408.08830) | | Left ankle roll | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Agility Robotics: how Digit moves (20 actuators, 4 large)](https://agilityrobotics.com/content/how-digit-moves-the-case-for-highly-effective-actuators); [arXiv 2408.08830: system identification for Digit (actuated joint list)](https://arxiv.org/pdf/2408.08830) | | Right ankle roll | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Agility Robotics: how Digit moves (20 actuators, 4 large)](https://agilityrobotics.com/content/how-digit-moves-the-case-for-highly-effective-actuators); [arXiv 2408.08830: system identification for Digit (actuated joint list)](https://arxiv.org/pdf/2408.08830) | ### Rare earth by actuator (estimated) | Design | Count | Nd g | Pr g | Dy g | Tb g | Total g | Metal value US$ | | --- | --- | --- | --- | --- | --- | --- | --- | | Undisclosed, M class | 16 | 210 | 61 | 15 | 4 | 291 (71 to 429) | $47.07 ($10.12 to $84.16) | | Undisclosed, L class | 4 | 53 | 15 | 4 | 1 | 73 (18 to 359) | $11.77 ($2.53 to $70.41) | ### Robot BOM | Group | Part | Count | Unit cost | Subtotal | Share | Source | | --- | --- | --- | --- | --- | --- | --- | | Actuator | Undisclosed, M class | 16 | $221 to $753 (modeled) | $3,535 to $12,052 | 76% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed, L class | 4 | $280 to $956 (modeled) | $1,121 to $3,822 | 24% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | Actuators: $4,656 to $15,875. Non-actuator BOM not published. Actuator mass: 12.7 kg to 25.8 kg, largest share Undisclosed, M class (21%), rest of robot 39.2 kg to 52.3 kg (published weight minus actuators). Magnet: 0.316 kg to 2.095 kg, largest share Undisclosed, M class (80%). ## Apollo (Apptronik) Mixes Apptronik's own linear actuators (elbows, knees) with custom rotary joints; no off-the-shelf rotary actuators. Lifts 25 kg. - **Country:** 馃嚭馃嚫 United States - **Actuators:** 25 (4 Ball screw, 21 Undisclosed) - **DOF:** not published - **Magnet:** 0.40 to 3.96 kg NdFeB (estimated) - **Rare earths:** 0.11 to 1.49 kg (Nd 0.087 to 1.013, Pr 0.023 to 0.317, Dy 0.001 to 0.119, Tb 0.000 to 0.040) - **Not counted:** Hands: actuator count not published. Estimated types rest on: linear actuator at the knee is reported; ball screw per Apptronik's humanoid linear actuator patent / linear actuator at the elbow is reported; ball screw per Apptronik's humanoid linear actuator patent / custom Apptronik rotary actuators; reducer types not published. | Joint | Count | Type | Motor | Peak | At motor | Magnet g | Sources | | --- | --- | --- | --- | --- | --- | --- | --- | | Left knee | 1 | Ball screw (estimated) | | | 5.75 N路m (5 mm lead, modeled) | 39.6 to 238.6 | [The Robot Report: Apptronik's Apollo with bespoke linear actuators](https://www.therobotreport.com/rbr50-company-2024/apptronik-releases-humanoid-robot-with-bespoke-linear-actuators/); [IEEE Spectrum: Apollo, linear and rotary actuators](https://spectrum.ieee.org/humanoid-robot); [US 12553500: linear ball screw actuator for a humanoid robot](https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/12553500) | | Right knee | 1 | Ball screw (estimated) | | | 5.75 N路m (5 mm lead, modeled) | 39.6 to 238.6 | [The Robot Report: Apptronik's Apollo with bespoke linear actuators](https://www.therobotreport.com/rbr50-company-2024/apptronik-releases-humanoid-robot-with-bespoke-linear-actuators/); [IEEE Spectrum: Apollo, linear and rotary actuators](https://spectrum.ieee.org/humanoid-robot); [US 12553500: linear ball screw actuator for a humanoid robot](https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/12553500) | | Left elbow | 1 | Ball screw (estimated) | | | 2.21 N路m (5 mm lead, modeled) | 15.8 to 71.3 | [The Robot Report: Apptronik's Apollo with bespoke linear actuators](https://www.therobotreport.com/rbr50-company-2024/apptronik-releases-humanoid-robot-with-bespoke-linear-actuators/); [IEEE Spectrum: Apollo, linear and rotary actuators](https://spectrum.ieee.org/humanoid-robot); [US 12553500: linear ball screw actuator for a humanoid robot](https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/12553500) | | Right elbow | 1 | Ball screw (estimated) | | | 2.21 N路m (5 mm lead, modeled) | 15.8 to 71.3 | [The Robot Report: Apptronik's Apollo with bespoke linear actuators](https://www.therobotreport.com/rbr50-company-2024/apptronik-releases-humanoid-robot-with-bespoke-linear-actuators/); [IEEE Spectrum: Apollo, linear and rotary actuators](https://spectrum.ieee.org/humanoid-robot); [US 12553500: linear ball screw actuator for a humanoid robot](https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/12553500) | | Left hip pitch | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [The Robot Report: Apptronik's Apollo with bespoke linear actuators](https://www.therobotreport.com/rbr50-company-2024/apptronik-releases-humanoid-robot-with-bespoke-linear-actuators/); [IEEE Spectrum: Apollo, linear and rotary actuators](https://spectrum.ieee.org/humanoid-robot) | | Right hip pitch | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [The Robot Report: Apptronik's Apollo with bespoke linear actuators](https://www.therobotreport.com/rbr50-company-2024/apptronik-releases-humanoid-robot-with-bespoke-linear-actuators/); [IEEE Spectrum: Apollo, linear and rotary actuators](https://spectrum.ieee.org/humanoid-robot) | | Left hip roll | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [The Robot Report: Apptronik's Apollo with bespoke linear actuators](https://www.therobotreport.com/rbr50-company-2024/apptronik-releases-humanoid-robot-with-bespoke-linear-actuators/); [IEEE Spectrum: Apollo, linear and rotary actuators](https://spectrum.ieee.org/humanoid-robot) | | Right hip roll | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [The Robot Report: Apptronik's Apollo with bespoke linear actuators](https://www.therobotreport.com/rbr50-company-2024/apptronik-releases-humanoid-robot-with-bespoke-linear-actuators/); [IEEE Spectrum: Apollo, linear and rotary actuators](https://spectrum.ieee.org/humanoid-robot) | | Left hip yaw | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [The Robot Report: Apptronik's Apollo with bespoke linear actuators](https://www.therobotreport.com/rbr50-company-2024/apptronik-releases-humanoid-robot-with-bespoke-linear-actuators/); [IEEE Spectrum: Apollo, linear and rotary actuators](https://spectrum.ieee.org/humanoid-robot) | | Right hip yaw | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [The Robot Report: Apptronik's Apollo with bespoke linear actuators](https://www.therobotreport.com/rbr50-company-2024/apptronik-releases-humanoid-robot-with-bespoke-linear-actuators/); [IEEE Spectrum: Apollo, linear and rotary actuators](https://spectrum.ieee.org/humanoid-robot) | | Waist | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [The Robot Report: Apptronik's Apollo with bespoke linear actuators](https://www.therobotreport.com/rbr50-company-2024/apptronik-releases-humanoid-robot-with-bespoke-linear-actuators/); [IEEE Spectrum: Apollo, linear and rotary actuators](https://spectrum.ieee.org/humanoid-robot) | | Left shoulder pitch | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [The Robot Report: Apptronik's Apollo with bespoke linear actuators](https://www.therobotreport.com/rbr50-company-2024/apptronik-releases-humanoid-robot-with-bespoke-linear-actuators/); [IEEE Spectrum: Apollo, linear and rotary actuators](https://spectrum.ieee.org/humanoid-robot) | | Right shoulder pitch | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [The Robot Report: Apptronik's Apollo with bespoke linear actuators](https://www.therobotreport.com/rbr50-company-2024/apptronik-releases-humanoid-robot-with-bespoke-linear-actuators/); [IEEE Spectrum: Apollo, linear and rotary actuators](https://spectrum.ieee.org/humanoid-robot) | | Left shoulder roll | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [The Robot Report: Apptronik's Apollo with bespoke linear actuators](https://www.therobotreport.com/rbr50-company-2024/apptronik-releases-humanoid-robot-with-bespoke-linear-actuators/); [IEEE Spectrum: Apollo, linear and rotary actuators](https://spectrum.ieee.org/humanoid-robot) | | Right shoulder roll | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [The Robot Report: Apptronik's Apollo with bespoke linear actuators](https://www.therobotreport.com/rbr50-company-2024/apptronik-releases-humanoid-robot-with-bespoke-linear-actuators/); [IEEE Spectrum: Apollo, linear and rotary actuators](https://spectrum.ieee.org/humanoid-robot) | | Left shoulder yaw | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [The Robot Report: Apptronik's Apollo with bespoke linear actuators](https://www.therobotreport.com/rbr50-company-2024/apptronik-releases-humanoid-robot-with-bespoke-linear-actuators/); [IEEE Spectrum: Apollo, linear and rotary actuators](https://spectrum.ieee.org/humanoid-robot) | | Right shoulder yaw | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [The Robot Report: Apptronik's Apollo with bespoke linear actuators](https://www.therobotreport.com/rbr50-company-2024/apptronik-releases-humanoid-robot-with-bespoke-linear-actuators/); [IEEE Spectrum: Apollo, linear and rotary actuators](https://spectrum.ieee.org/humanoid-robot) | | Left ankle pitch | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [The Robot Report: Apptronik's Apollo with bespoke linear actuators](https://www.therobotreport.com/rbr50-company-2024/apptronik-releases-humanoid-robot-with-bespoke-linear-actuators/); [IEEE Spectrum: Apollo, linear and rotary actuators](https://spectrum.ieee.org/humanoid-robot) | | Right ankle pitch | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [The Robot Report: Apptronik's Apollo with bespoke linear actuators](https://www.therobotreport.com/rbr50-company-2024/apptronik-releases-humanoid-robot-with-bespoke-linear-actuators/); [IEEE Spectrum: Apollo, linear and rotary actuators](https://spectrum.ieee.org/humanoid-robot) | | Left ankle roll | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [The Robot Report: Apptronik's Apollo with bespoke linear actuators](https://www.therobotreport.com/rbr50-company-2024/apptronik-releases-humanoid-robot-with-bespoke-linear-actuators/); [IEEE Spectrum: Apollo, linear and rotary actuators](https://spectrum.ieee.org/humanoid-robot) | | Right ankle roll | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [The Robot Report: Apptronik's Apollo with bespoke linear actuators](https://www.therobotreport.com/rbr50-company-2024/apptronik-releases-humanoid-robot-with-bespoke-linear-actuators/); [IEEE Spectrum: Apollo, linear and rotary actuators](https://spectrum.ieee.org/humanoid-robot) | | Left wrist | 2 | Undisclosed (estimated) | | | 1.18 N路m (25:1, modeled) | 10.8 to 142.6 | [The Robot Report: Apptronik's Apollo with bespoke linear actuators](https://www.therobotreport.com/rbr50-company-2024/apptronik-releases-humanoid-robot-with-bespoke-linear-actuators/); [IEEE Spectrum: Apollo, linear and rotary actuators](https://spectrum.ieee.org/humanoid-robot) | | Right wrist | 2 | Undisclosed (estimated) | | | 1.18 N路m (25:1, modeled) | 10.8 to 142.6 | [The Robot Report: Apptronik's Apollo with bespoke linear actuators](https://www.therobotreport.com/rbr50-company-2024/apptronik-releases-humanoid-robot-with-bespoke-linear-actuators/); [IEEE Spectrum: Apollo, linear and rotary actuators](https://spectrum.ieee.org/humanoid-robot) | ### Rare earth by actuator (estimated) | Design | Count | Nd g | Pr g | Dy g | Tb g | Total g | Metal value US$ | | --- | --- | --- | --- | --- | --- | --- | --- | | Undisclosed, L class | 11 | 145 | 42 | 10 | 3 | 200 (48 to 987) | $32.36 ($6.96 to $193.62) | | Undisclosed, M class | 6 | 79 | 23 | 6 | 2 | 109 (26 to 161) | $17.65 ($3.80 to $31.56) | | Ball screw, L class | 2 | 26 | 8 | 2 | 1 | 36 (22 to 179) | $5.88 ($3.17 to $35.20) | | Ball screw, M class | 2 | 26 | 8 | 2 | 1 | 36 (9 to 54) | $5.88 ($1.27 to $10.52) | | Undisclosed, S class | 4 | 22 | 6 | 2 | 0 | 30 (6 to 107) | $4.90 ($0.86 to $21.04) | ### Robot BOM | Group | Part | Count | Unit cost | Subtotal | Share | Source | | --- | --- | --- | --- | --- | --- | --- | | Actuator | Undisclosed, L class | 11 | $280 to $956 (modeled) | $3,083 to $10,512 | 51% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed, M class | 6 | $221 to $753 (modeled) | $1,326 to $4,520 | 22% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed, S class | 4 | $160 to $546 (modeled) | $641 to $2,185 | 11% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Ball screw, L class | 2 | $437 to $1,100 (modeled) | $873 to $2,200 | 8% | [Huibo research via Zhihu: Optimus hardware BOM (rotary 57k, linear 44k, hands 20k CNY)](https://zhuanlan.zhihu.com/p/687045590); [XenoSpectrum on Morgan Stanley: Optimus Gen 2 BOM about $55k, actuators 56%, hands $9.5k](https://xenospectrum.com/en/humanoid-robot-bom-actuator-cost/) | | Actuator | Ball screw, M class | 2 | $437 to $1,100 (modeled) | $873 to $2,200 | 8% | [Huibo research via Zhihu: Optimus hardware BOM (rotary 57k, linear 44k, hands 20k CNY)](https://zhuanlan.zhihu.com/p/687045590); [XenoSpectrum on Morgan Stanley: Optimus Gen 2 BOM about $55k, actuators 56%, hands $9.5k](https://xenospectrum.com/en/humanoid-robot-bom-actuator-cost/) | Actuators: $6,796 to $21,616. Non-actuator BOM not published. Actuator mass: 14.1 kg to 28.6 kg, largest share Undisclosed, L class (18%), rest of robot 44.4 kg to 58.9 kg (published weight minus actuators). Magnet: 0.401 kg to 3.957 kg, largest share Undisclosed, L class (49%). ## NEO (1X Technologies) Home humanoid where high-torque-density motors pull polymer tendons at about 5:1 to 15:1, so joints stay backdrivable. Hands: 22 actuated DOF plus a 3-DOF wrist. - **Country:** 馃嚭馃嚫 United States - **Actuators:** 73 (73 Tendon) - **DOF:** 75 - **Magnet:** 0.84 to 2.22 kg NdFeB (estimated) - **Rare earths:** 0.23 to 0.83 kg (Nd 0.183 to 0.568, Pr 0.049 to 0.177, Dy 0.003 to 0.067, Tb 0.000 to 0.022) - **Not counted:** 75 DOF in total: axes beyond the canonical joint set are not counted. Estimated types rest on: 1X describes NEO as tendon-driven throughout; per-joint motor sizes are not published. | Joint | Count | Type | Motor | Peak | At motor | Magnet g | Sources | | --- | --- | --- | --- | --- | --- | --- | --- | | Left hip pitch | 1 | Tendon (estimated) | | | 3.88 N路m (22:1, modeled) | 39.6 to 71.3 | [1X: NEO](https://www.1x.tech/neo); [Robotics & Automation News: NEO hands, tendons at 5:1 to 15:1](https://roboticsandautomationnews.com/2026/07/17/1x-unveils-25-degree-of-freedom-humanoid-robot-hands-for-neo/103405/) | | Right hip pitch | 1 | Tendon (estimated) | | | 3.88 N路m (22:1, modeled) | 39.6 to 71.3 | [1X: NEO](https://www.1x.tech/neo); [Robotics & Automation News: NEO hands, tendons at 5:1 to 15:1](https://roboticsandautomationnews.com/2026/07/17/1x-unveils-25-degree-of-freedom-humanoid-robot-hands-for-neo/103405/) | | Left knee | 1 | Tendon (estimated) | | | 3.88 N路m (22:1, modeled) | 39.6 to 71.3 | [1X: NEO](https://www.1x.tech/neo); [Robotics & Automation News: NEO hands, tendons at 5:1 to 15:1](https://roboticsandautomationnews.com/2026/07/17/1x-unveils-25-degree-of-freedom-humanoid-robot-hands-for-neo/103405/) | | Right knee | 1 | Tendon (estimated) | | | 3.88 N路m (22:1, modeled) | 39.6 to 71.3 | [1X: NEO](https://www.1x.tech/neo); [Robotics & Automation News: NEO hands, tendons at 5:1 to 15:1](https://roboticsandautomationnews.com/2026/07/17/1x-unveils-25-degree-of-freedom-humanoid-robot-hands-for-neo/103405/) | | Left hip roll | 1 | Tendon (estimated) | | | 3.88 N路m (22:1, modeled) | 39.6 to 71.3 | [1X: NEO](https://www.1x.tech/neo); [Robotics & Automation News: NEO hands, tendons at 5:1 to 15:1](https://roboticsandautomationnews.com/2026/07/17/1x-unveils-25-degree-of-freedom-humanoid-robot-hands-for-neo/103405/) | | Right hip roll | 1 | Tendon (estimated) | | | 3.88 N路m (22:1, modeled) | 39.6 to 71.3 | [1X: NEO](https://www.1x.tech/neo); [Robotics & Automation News: NEO hands, tendons at 5:1 to 15:1](https://roboticsandautomationnews.com/2026/07/17/1x-unveils-25-degree-of-freedom-humanoid-robot-hands-for-neo/103405/) | | Left hip yaw | 1 | Tendon (estimated) | | | 1.39 N路m (22:1, modeled) | 15.8 to 71.3 | [1X: NEO](https://www.1x.tech/neo); [Robotics & Automation News: NEO hands, tendons at 5:1 to 15:1](https://roboticsandautomationnews.com/2026/07/17/1x-unveils-25-degree-of-freedom-humanoid-robot-hands-for-neo/103405/) | | Right hip yaw | 1 | Tendon (estimated) | | | 1.39 N路m (22:1, modeled) | 15.8 to 71.3 | [1X: NEO](https://www.1x.tech/neo); [Robotics & Automation News: NEO hands, tendons at 5:1 to 15:1](https://roboticsandautomationnews.com/2026/07/17/1x-unveils-25-degree-of-freedom-humanoid-robot-hands-for-neo/103405/) | | Left ankle pitch | 1 | Tendon (estimated) | | | 1.39 N路m (22:1, modeled) | 15.8 to 71.3 | [1X: NEO](https://www.1x.tech/neo); [Robotics & Automation News: NEO hands, tendons at 5:1 to 15:1](https://roboticsandautomationnews.com/2026/07/17/1x-unveils-25-degree-of-freedom-humanoid-robot-hands-for-neo/103405/) | | Right ankle pitch | 1 | Tendon (estimated) | | | 1.39 N路m (22:1, modeled) | 15.8 to 71.3 | [1X: NEO](https://www.1x.tech/neo); [Robotics & Automation News: NEO hands, tendons at 5:1 to 15:1](https://roboticsandautomationnews.com/2026/07/17/1x-unveils-25-degree-of-freedom-humanoid-robot-hands-for-neo/103405/) | | Left ankle roll | 1 | Tendon (estimated) | | | 1.39 N路m (22:1, modeled) | 15.8 to 71.3 | [1X: NEO](https://www.1x.tech/neo); [Robotics & Automation News: NEO hands, tendons at 5:1 to 15:1](https://roboticsandautomationnews.com/2026/07/17/1x-unveils-25-degree-of-freedom-humanoid-robot-hands-for-neo/103405/) | | Right ankle roll | 1 | Tendon (estimated) | | | 1.39 N路m (22:1, modeled) | 15.8 to 71.3 | [1X: NEO](https://www.1x.tech/neo); [Robotics & Automation News: NEO hands, tendons at 5:1 to 15:1](https://roboticsandautomationnews.com/2026/07/17/1x-unveils-25-degree-of-freedom-humanoid-robot-hands-for-neo/103405/) | | Left shoulder pitch | 1 | Tendon (estimated) | | | 1.39 N路m (22:1, modeled) | 15.8 to 71.3 | [1X: NEO](https://www.1x.tech/neo); [Robotics & Automation News: NEO hands, tendons at 5:1 to 15:1](https://roboticsandautomationnews.com/2026/07/17/1x-unveils-25-degree-of-freedom-humanoid-robot-hands-for-neo/103405/) | | Right shoulder pitch | 1 | Tendon (estimated) | | | 1.39 N路m (22:1, modeled) | 15.8 to 71.3 | [1X: NEO](https://www.1x.tech/neo); [Robotics & Automation News: NEO hands, tendons at 5:1 to 15:1](https://roboticsandautomationnews.com/2026/07/17/1x-unveils-25-degree-of-freedom-humanoid-robot-hands-for-neo/103405/) | | Left shoulder roll | 1 | Tendon (estimated) | | | 1.39 N路m (22:1, modeled) | 15.8 to 71.3 | [1X: NEO](https://www.1x.tech/neo); [Robotics & Automation News: NEO hands, tendons at 5:1 to 15:1](https://roboticsandautomationnews.com/2026/07/17/1x-unveils-25-degree-of-freedom-humanoid-robot-hands-for-neo/103405/) | | Right shoulder roll | 1 | Tendon (estimated) | | | 1.39 N路m (22:1, modeled) | 15.8 to 71.3 | [1X: NEO](https://www.1x.tech/neo); [Robotics & Automation News: NEO hands, tendons at 5:1 to 15:1](https://roboticsandautomationnews.com/2026/07/17/1x-unveils-25-degree-of-freedom-humanoid-robot-hands-for-neo/103405/) | | Left shoulder yaw | 1 | Tendon (estimated) | | | 1.39 N路m (22:1, modeled) | 15.8 to 71.3 | [1X: NEO](https://www.1x.tech/neo); [Robotics & Automation News: NEO hands, tendons at 5:1 to 15:1](https://roboticsandautomationnews.com/2026/07/17/1x-unveils-25-degree-of-freedom-humanoid-robot-hands-for-neo/103405/) | | Right shoulder yaw | 1 | Tendon (estimated) | | | 1.39 N路m (22:1, modeled) | 15.8 to 71.3 | [1X: NEO](https://www.1x.tech/neo); [Robotics & Automation News: NEO hands, tendons at 5:1 to 15:1](https://roboticsandautomationnews.com/2026/07/17/1x-unveils-25-degree-of-freedom-humanoid-robot-hands-for-neo/103405/) | | Left elbow | 1 | Tendon (estimated) | | | 1.39 N路m (22:1, modeled) | 15.8 to 71.3 | [1X: NEO](https://www.1x.tech/neo); [Robotics & Automation News: NEO hands, tendons at 5:1 to 15:1](https://roboticsandautomationnews.com/2026/07/17/1x-unveils-25-degree-of-freedom-humanoid-robot-hands-for-neo/103405/) | | Right elbow | 1 | Tendon (estimated) | | | 1.39 N路m (22:1, modeled) | 15.8 to 71.3 | [1X: NEO](https://www.1x.tech/neo); [Robotics & Automation News: NEO hands, tendons at 5:1 to 15:1](https://roboticsandautomationnews.com/2026/07/17/1x-unveils-25-degree-of-freedom-humanoid-robot-hands-for-neo/103405/) | | Waist | 1 | Tendon (estimated) | | | 3.88 N路m (22:1, modeled) | 39.6 to 71.3 | [1X: NEO](https://www.1x.tech/neo); [Robotics & Automation News: NEO hands, tendons at 5:1 to 15:1](https://roboticsandautomationnews.com/2026/07/17/1x-unveils-25-degree-of-freedom-humanoid-robot-hands-for-neo/103405/) | | Neck | 2 | Tendon (estimated) | | | 0.28 N路m (22:1, modeled) | 10.8 to 23.4 | [1X: NEO](https://www.1x.tech/neo); [Robotics & Automation News: NEO hands, tendons at 5:1 to 15:1](https://roboticsandautomationnews.com/2026/07/17/1x-unveils-25-degree-of-freedom-humanoid-robot-hands-for-neo/103405/) | | Left wrist | 3 | Tendon | | 17.75 N路m (estimated) | 0.98 N路m (22:1, modeled) | 47.4 to 91.5 | [Robotics & Automation News: NEO hands, tendons at 5:1 to 15:1](https://roboticsandautomationnews.com/2026/07/17/1x-unveils-25-degree-of-freedom-humanoid-robot-hands-for-neo/103405/) | | Right wrist | 3 | Tendon | | 17.75 N路m (estimated) | 0.98 N路m (22:1, modeled) | 47.4 to 91.5 | [Robotics & Automation News: NEO hands, tendons at 5:1 to 15:1](https://roboticsandautomationnews.com/2026/07/17/1x-unveils-25-degree-of-freedom-humanoid-robot-hands-for-neo/103405/) | | Left hand | 22 | Tendon | | 3.5 N路m (estimated) | 0.19 N路m (22:1, modeled) | 118.8 to 257.4 | [Robotics & Automation News: NEO hands, tendons at 5:1 to 15:1](https://roboticsandautomationnews.com/2026/07/17/1x-unveils-25-degree-of-freedom-humanoid-robot-hands-for-neo/103405/) | | Right hand | 22 | Tendon | | 3.5 N路m (estimated) | 0.19 N路m (22:1, modeled) | 118.8 to 257.4 | [Robotics & Automation News: NEO hands, tendons at 5:1 to 15:1](https://roboticsandautomationnews.com/2026/07/17/1x-unveils-25-degree-of-freedom-humanoid-robot-hands-for-neo/103405/) | ### Rare earth by actuator (estimated) | Design | Count | Nd g | Pr g | Dy g | Tb g | Total g | Metal value US$ | | --- | --- | --- | --- | --- | --- | --- | --- | | Tendon, M class | 7 | 92 | 27 | 7 | 2 | 127 (77 to 188) | $20.59 ($11.10 to $36.82) | | Hand (tendon) | 44 | 89 | 26 | 6 | 2 | 122 (66 to 194) | $19.82 ($9.51 to $37.98) | | Tendon, S class | 14 | 77 | 22 | 5 | 2 | 106 (62 to 375) | $17.22 ($8.86 to $73.64) | | Tendon 17.75 N路m | 6 | 33 | 10 | 2 | 1 | 45 (26 to 69) | $7.35 ($3.80 to $13.50) | | Tendon, XS class | 2 | 4 | 1 | 0 | 0 | 6 (3 to 9) | $0.91 ($0.43 to $1.73) | ### Robot BOM | Group | Part | Count | Unit cost | Subtotal | Share | Source | | --- | --- | --- | --- | --- | --- | --- | | Actuator | Tendon, S class | 14 | $160 to $546 (modeled) | $2,243 to $7,647 | 48% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Tendon, M class | 7 | $221 to $753 (modeled) | $1,547 to $5,273 | 33% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Tendon 17.75 N路m | 6 | $144 to $491 (modeled) | $864 to $2,945 | 19% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | Actuators: $4,653 to $15,865. Non-actuator BOM not published. Actuators are about 43% of the list price (23 to 79%). Actuator mass: 18.1 kg to 36.9 kg, largest share Hand (tendon) (33%), rest of robot 0.0 kg to 11.9 kg (published weight minus actuators). Magnet: 0.842 kg to 2.219 kg, largest share Tendon, M class (31%). Not costed: Tendon, XS class x2 (micro motor: no defensible unit cost); Hand (tendon) x44 (below the catalog price fit range (7 N路m)). ## Phoenix Gen 7 (Sanctuary AI) General-purpose humanoid built around 21-DOF hands driven by coin-sized hydraulic valves, which Sanctuary says give an order of magnitude more power density than cable or electromechanical hands. - **Country:** 馃嚚馃嚘 Canada - **Actuators:** 55 (42 Hydraulic, 13 Undisclosed) - **DOF:** not published - **Magnet:** 0.16 to 0.93 kg NdFeB (estimated) - **Rare earths:** 0.05 to 0.35 kg (Nd 0.036 to 0.237, Pr 0.010 to 0.074, Dy 0.001 to 0.028, Tb 0.000 to 0.009) - **Not counted:** Leg actuation not documented. Estimated types rest on: Sanctuary has not published how the arm and torso joints are driven / Gen 7 widened wrist range of motion; drive not published. | Joint | Count | Type | Motor | Peak | At motor | Magnet g | Sources | | --- | --- | --- | --- | --- | --- | --- | --- | | Left hand | 21 | Hydraulic | | | | 0.0 to 0.0 | [Sanctuary AI: in-hand manipulation with hydraulic hands](https://sanctuary.ai/news/sanctuary-ai-demonstrates-in-hand-manipulation-capabilities-for-improved-general-purpose-robot-dexterity); [Analytics India: Phoenix hand with 21 DOF](https://analyticsindiamag.com/ai-news-updates/sanctuary-ais-phoenix-now-has-a-robotic-hand-with-21-dof) | | Right hand | 21 | Hydraulic | | | | 0.0 to 0.0 | [Sanctuary AI: in-hand manipulation with hydraulic hands](https://sanctuary.ai/news/sanctuary-ai-demonstrates-in-hand-manipulation-capabilities-for-improved-general-purpose-robot-dexterity); [Analytics India: Phoenix hand with 21 DOF](https://analyticsindiamag.com/ai-news-updates/sanctuary-ais-phoenix-now-has-a-robotic-hand-with-21-dof) | | Left shoulder pitch | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Robotics 24/7: Phoenix generation 7](https://www.robotics247.com/article/sanctuary_ai_releases_next_generation_of_phoenix_general_purpose_robot/sanctuary_ai); [Sanctuary AI: in-hand manipulation with hydraulic hands](https://sanctuary.ai/news/sanctuary-ai-demonstrates-in-hand-manipulation-capabilities-for-improved-general-purpose-robot-dexterity) | | Right shoulder pitch | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Robotics 24/7: Phoenix generation 7](https://www.robotics247.com/article/sanctuary_ai_releases_next_generation_of_phoenix_general_purpose_robot/sanctuary_ai); [Sanctuary AI: in-hand manipulation with hydraulic hands](https://sanctuary.ai/news/sanctuary-ai-demonstrates-in-hand-manipulation-capabilities-for-improved-general-purpose-robot-dexterity) | | Left shoulder roll | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Robotics 24/7: Phoenix generation 7](https://www.robotics247.com/article/sanctuary_ai_releases_next_generation_of_phoenix_general_purpose_robot/sanctuary_ai); [Sanctuary AI: in-hand manipulation with hydraulic hands](https://sanctuary.ai/news/sanctuary-ai-demonstrates-in-hand-manipulation-capabilities-for-improved-general-purpose-robot-dexterity) | | Right shoulder roll | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Robotics 24/7: Phoenix generation 7](https://www.robotics247.com/article/sanctuary_ai_releases_next_generation_of_phoenix_general_purpose_robot/sanctuary_ai); [Sanctuary AI: in-hand manipulation with hydraulic hands](https://sanctuary.ai/news/sanctuary-ai-demonstrates-in-hand-manipulation-capabilities-for-improved-general-purpose-robot-dexterity) | | Left shoulder yaw | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Robotics 24/7: Phoenix generation 7](https://www.robotics247.com/article/sanctuary_ai_releases_next_generation_of_phoenix_general_purpose_robot/sanctuary_ai); [Sanctuary AI: in-hand manipulation with hydraulic hands](https://sanctuary.ai/news/sanctuary-ai-demonstrates-in-hand-manipulation-capabilities-for-improved-general-purpose-robot-dexterity) | | Right shoulder yaw | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Robotics 24/7: Phoenix generation 7](https://www.robotics247.com/article/sanctuary_ai_releases_next_generation_of_phoenix_general_purpose_robot/sanctuary_ai); [Sanctuary AI: in-hand manipulation with hydraulic hands](https://sanctuary.ai/news/sanctuary-ai-demonstrates-in-hand-manipulation-capabilities-for-improved-general-purpose-robot-dexterity) | | Left elbow | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Robotics 24/7: Phoenix generation 7](https://www.robotics247.com/article/sanctuary_ai_releases_next_generation_of_phoenix_general_purpose_robot/sanctuary_ai); [Sanctuary AI: in-hand manipulation with hydraulic hands](https://sanctuary.ai/news/sanctuary-ai-demonstrates-in-hand-manipulation-capabilities-for-improved-general-purpose-robot-dexterity) | | Right elbow | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Robotics 24/7: Phoenix generation 7](https://www.robotics247.com/article/sanctuary_ai_releases_next_generation_of_phoenix_general_purpose_robot/sanctuary_ai); [Sanctuary AI: in-hand manipulation with hydraulic hands](https://sanctuary.ai/news/sanctuary-ai-demonstrates-in-hand-manipulation-capabilities-for-improved-general-purpose-robot-dexterity) | | Waist | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Robotics 24/7: Phoenix generation 7](https://www.robotics247.com/article/sanctuary_ai_releases_next_generation_of_phoenix_general_purpose_robot/sanctuary_ai); [Sanctuary AI: in-hand manipulation with hydraulic hands](https://sanctuary.ai/news/sanctuary-ai-demonstrates-in-hand-manipulation-capabilities-for-improved-general-purpose-robot-dexterity) | | Left wrist | 2 | Undisclosed (estimated) | | | 1.18 N路m (25:1, modeled) | 10.8 to 142.6 | [Robotics 24/7: Phoenix generation 7](https://www.robotics247.com/article/sanctuary_ai_releases_next_generation_of_phoenix_general_purpose_robot/sanctuary_ai); [Sanctuary AI: in-hand manipulation with hydraulic hands](https://sanctuary.ai/news/sanctuary-ai-demonstrates-in-hand-manipulation-capabilities-for-improved-general-purpose-robot-dexterity) | | Right wrist | 2 | Undisclosed (estimated) | | | 1.18 N路m (25:1, modeled) | 10.8 to 142.6 | [Robotics 24/7: Phoenix generation 7](https://www.robotics247.com/article/sanctuary_ai_releases_next_generation_of_phoenix_general_purpose_robot/sanctuary_ai); [Sanctuary AI: in-hand manipulation with hydraulic hands](https://sanctuary.ai/news/sanctuary-ai-demonstrates-in-hand-manipulation-capabilities-for-improved-general-purpose-robot-dexterity) | ### Rare earth by actuator (estimated) | Design | Count | Nd g | Pr g | Dy g | Tb g | Total g | Metal value US$ | | --- | --- | --- | --- | --- | --- | --- | --- | | Undisclosed, M class | 9 | 118 | 34 | 8 | 2 | 164 (40 to 241) | $26.48 ($5.69 to $47.34) | | Undisclosed, S class | 4 | 22 | 6 | 2 | 0 | 30 (6 to 107) | $4.90 ($0.86 to $21.04) | ### Robot BOM | Group | Part | Count | Unit cost | Subtotal | Share | Source | | --- | --- | --- | --- | --- | --- | --- | | Actuator | Undisclosed, M class | 9 | $221 to $753 (modeled) | $1,988 to $6,780 | 76% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed, S class | 4 | $160 to $546 (modeled) | $641 to $2,185 | 24% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | Actuators: $2,629 to $8,964. Non-actuator BOM not published. Actuator mass: 6.8 kg to 13.8 kg, largest share Undisclosed, M class (11%), rest of robot 56.2 kg to 63.2 kg (published weight minus actuators). Magnet: 0.164 kg to 0.927 kg, largest share Undisclosed, M class (84%). Not costed: Hand (hydraulic) x42 (hydraulic: no per-actuator cost published). ## G1 (Unitree Robotics) Compact research humanoid on three Unitree motor sizes: N7520 at 14.3:1 and 22.5:1 in the hips and knees, N5020-16 everywhere else. - **Country:** 馃嚚馃嚦 China - **Actuators:** 23 (23 Planetary) - **DOF:** 23 - **Magnet:** 0.67 to 1.23 kg NdFeB (estimated) - **Rare earths:** 0.19 to 0.46 kg (Nd 0.146 to 0.315, Pr 0.039 to 0.099, Dy 0.002 to 0.037, Tb 0.000 to 0.012) Estimated types rest on: motor-gearbox modules at a fixed ratio (Unitree RL Lab configs); Unitree does not name the reducer type, planetary assumed. | Joint | Count | Type | Motor | Peak | At motor | Magnet g | Sources | | --- | --- | --- | --- | --- | --- | --- | --- | | Left hip pitch | 1 | Planetary (estimated) | Unitree N7520-14.3 | 88 N路m | 6.84 N路m (14.3:1) | 39.6 to 71.3 | [Unitree G1 23-DOF URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_23dof_rev_1_0.urdf); [Unitree RL Lab: G1 actuator configs (N7520, N5020)](https://github.com/unitreerobotics/unitree_rl_lab/blob/main/source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree_actuators.py) | | Right hip pitch | 1 | Planetary (estimated) | Unitree N7520-14.3 | 88 N路m | 6.84 N路m (14.3:1) | 39.6 to 71.3 | [Unitree G1 23-DOF URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_23dof_rev_1_0.urdf); [Unitree RL Lab: G1 actuator configs (N7520, N5020)](https://github.com/unitreerobotics/unitree_rl_lab/blob/main/source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree_actuators.py) | | Left hip yaw | 1 | Planetary (estimated) | Unitree N7520-14.3 | 88 N路m | 6.84 N路m (14.3:1) | 39.6 to 71.3 | [Unitree G1 23-DOF URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_23dof_rev_1_0.urdf); [Unitree RL Lab: G1 actuator configs (N7520, N5020)](https://github.com/unitreerobotics/unitree_rl_lab/blob/main/source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree_actuators.py) | | Right hip yaw | 1 | Planetary (estimated) | Unitree N7520-14.3 | 88 N路m | 6.84 N路m (14.3:1) | 39.6 to 71.3 | [Unitree G1 23-DOF URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_23dof_rev_1_0.urdf); [Unitree RL Lab: G1 actuator configs (N7520, N5020)](https://github.com/unitreerobotics/unitree_rl_lab/blob/main/source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree_actuators.py) | | Waist | 1 | Planetary (estimated) | Unitree N7520-14.3 | 88 N路m | 6.84 N路m (14.3:1) | 39.6 to 71.3 | [Unitree G1 23-DOF URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_23dof_rev_1_0.urdf); [Unitree RL Lab: G1 actuator configs (N7520, N5020)](https://github.com/unitreerobotics/unitree_rl_lab/blob/main/source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree_actuators.py) | | Left hip roll | 1 | Planetary (estimated) | Unitree N7520-22.5 | 139 N路m | 6.86 N路m (22.5:1) | 39.6 to 71.3 | [Unitree G1 23-DOF URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_23dof_rev_1_0.urdf); [Unitree RL Lab: G1 actuator configs (N7520, N5020)](https://github.com/unitreerobotics/unitree_rl_lab/blob/main/source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree_actuators.py) | | Right hip roll | 1 | Planetary (estimated) | Unitree N7520-22.5 | 139 N路m | 6.86 N路m (22.5:1) | 39.6 to 71.3 | [Unitree G1 23-DOF URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_23dof_rev_1_0.urdf); [Unitree RL Lab: G1 actuator configs (N7520, N5020)](https://github.com/unitreerobotics/unitree_rl_lab/blob/main/source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree_actuators.py) | | Left knee | 1 | Planetary (estimated) | Unitree N7520-22.5 | 139 N路m | 6.86 N路m (22.5:1) | 39.6 to 71.3 | [Unitree G1 23-DOF URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_23dof_rev_1_0.urdf); [Unitree RL Lab: G1 actuator configs (N7520, N5020)](https://github.com/unitreerobotics/unitree_rl_lab/blob/main/source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree_actuators.py) | | Right knee | 1 | Planetary (estimated) | Unitree N7520-22.5 | 139 N路m | 6.86 N路m (22.5:1) | 39.6 to 71.3 | [Unitree G1 23-DOF URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_23dof_rev_1_0.urdf); [Unitree RL Lab: G1 actuator configs (N7520, N5020)](https://github.com/unitreerobotics/unitree_rl_lab/blob/main/source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree_actuators.py) | | Left ankle pitch | 1 | Planetary (estimated) | Unitree N5020-16 (parallel linkage) | 35 N路m | 2.43 N路m (16:1) | 39.6 to 71.3 | [Unitree G1 23-DOF URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_23dof_rev_1_0.urdf); [Unitree RL Lab: G1 actuator configs (N7520, N5020)](https://github.com/unitreerobotics/unitree_rl_lab/blob/main/source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree_actuators.py) | | Right ankle pitch | 1 | Planetary (estimated) | Unitree N5020-16 (parallel linkage) | 35 N路m | 2.43 N路m (16:1) | 39.6 to 71.3 | [Unitree G1 23-DOF URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_23dof_rev_1_0.urdf); [Unitree RL Lab: G1 actuator configs (N7520, N5020)](https://github.com/unitreerobotics/unitree_rl_lab/blob/main/source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree_actuators.py) | | Left ankle roll | 1 | Planetary (estimated) | Unitree N5020-16 (parallel linkage) | 35 N路m | 2.43 N路m (16:1) | 39.6 to 71.3 | [Unitree G1 23-DOF URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_23dof_rev_1_0.urdf); [Unitree RL Lab: G1 actuator configs (N7520, N5020)](https://github.com/unitreerobotics/unitree_rl_lab/blob/main/source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree_actuators.py) | | Right ankle roll | 1 | Planetary (estimated) | Unitree N5020-16 (parallel linkage) | 35 N路m | 2.43 N路m (16:1) | 39.6 to 71.3 | [Unitree G1 23-DOF URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_23dof_rev_1_0.urdf); [Unitree RL Lab: G1 actuator configs (N7520, N5020)](https://github.com/unitreerobotics/unitree_rl_lab/blob/main/source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree_actuators.py) | | Left shoulder pitch | 1 | Planetary (estimated) | Unitree N5020-16 | 25 N路m | 1.74 N路m (16:1) | 15.8 to 30.5 | [Unitree G1 23-DOF URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_23dof_rev_1_0.urdf); [Unitree RL Lab: G1 actuator configs (N7520, N5020)](https://github.com/unitreerobotics/unitree_rl_lab/blob/main/source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree_actuators.py) | | Right shoulder pitch | 1 | Planetary (estimated) | Unitree N5020-16 | 25 N路m | 1.74 N路m (16:1) | 15.8 to 30.5 | [Unitree G1 23-DOF URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_23dof_rev_1_0.urdf); [Unitree RL Lab: G1 actuator configs (N7520, N5020)](https://github.com/unitreerobotics/unitree_rl_lab/blob/main/source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree_actuators.py) | | Left shoulder roll | 1 | Planetary (estimated) | Unitree N5020-16 | 25 N路m | 1.74 N路m (16:1) | 15.8 to 30.5 | [Unitree G1 23-DOF URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_23dof_rev_1_0.urdf); [Unitree RL Lab: G1 actuator configs (N7520, N5020)](https://github.com/unitreerobotics/unitree_rl_lab/blob/main/source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree_actuators.py) | | Right shoulder roll | 1 | Planetary (estimated) | Unitree N5020-16 | 25 N路m | 1.74 N路m (16:1) | 15.8 to 30.5 | [Unitree G1 23-DOF URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_23dof_rev_1_0.urdf); [Unitree RL Lab: G1 actuator configs (N7520, N5020)](https://github.com/unitreerobotics/unitree_rl_lab/blob/main/source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree_actuators.py) | | Left shoulder yaw | 1 | Planetary (estimated) | Unitree N5020-16 | 25 N路m | 1.74 N路m (16:1) | 15.8 to 30.5 | [Unitree G1 23-DOF URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_23dof_rev_1_0.urdf); [Unitree RL Lab: G1 actuator configs (N7520, N5020)](https://github.com/unitreerobotics/unitree_rl_lab/blob/main/source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree_actuators.py) | | Right shoulder yaw | 1 | Planetary (estimated) | Unitree N5020-16 | 25 N路m | 1.74 N路m (16:1) | 15.8 to 30.5 | [Unitree G1 23-DOF URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_23dof_rev_1_0.urdf); [Unitree RL Lab: G1 actuator configs (N7520, N5020)](https://github.com/unitreerobotics/unitree_rl_lab/blob/main/source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree_actuators.py) | | Left elbow | 1 | Planetary (estimated) | Unitree N5020-16 | 25 N路m | 1.74 N路m (16:1) | 15.8 to 30.5 | [Unitree G1 23-DOF URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_23dof_rev_1_0.urdf); [Unitree RL Lab: G1 actuator configs (N7520, N5020)](https://github.com/unitreerobotics/unitree_rl_lab/blob/main/source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree_actuators.py) | | Right elbow | 1 | Planetary (estimated) | Unitree N5020-16 | 25 N路m | 1.74 N路m (16:1) | 15.8 to 30.5 | [Unitree G1 23-DOF URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_23dof_rev_1_0.urdf); [Unitree RL Lab: G1 actuator configs (N7520, N5020)](https://github.com/unitreerobotics/unitree_rl_lab/blob/main/source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree_actuators.py) | | Left wrist | 1 | Planetary (estimated) | Unitree N5020-16 | 25 N路m | 1.74 N路m (16:1) | 15.8 to 30.5 | [Unitree G1 23-DOF URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_23dof_rev_1_0.urdf); [Unitree RL Lab: G1 actuator configs (N7520, N5020)](https://github.com/unitreerobotics/unitree_rl_lab/blob/main/source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree_actuators.py) | | Right wrist | 1 | Planetary (estimated) | Unitree N5020-16 | 25 N路m | 1.74 N路m (16:1) | 15.8 to 30.5 | [Unitree G1 23-DOF URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_23dof_rev_1_0.urdf); [Unitree RL Lab: G1 actuator configs (N7520, N5020)](https://github.com/unitreerobotics/unitree_rl_lab/blob/main/source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree_actuators.py) | ### Rare earth by actuator (estimated) | Design | Count | Nd g | Pr g | Dy g | Tb g | Total g | Metal value US$ | | --- | --- | --- | --- | --- | --- | --- | --- | | Unitree N7520-14.3 | 5 | 66 | 19 | 5 | 1 | 91 (55 to 134) | $14.71 ($7.93 to $26.30) | | Unitree N5020-16 | 10 | 55 | 16 | 4 | 1 | 76 (44 to 115) | $12.30 ($6.33 to $22.50) | | Unitree N7520-22.5 | 4 | 53 | 15 | 4 | 1 | 73 (44 to 107) | $11.77 ($6.34 to $21.04) | | Unitree N5020-16 (parallel linkage) | 4 | 53 | 15 | 4 | 1 | 73 (44 to 107) | $11.77 ($6.34 to $21.04) | ### Robot BOM | Group | Part | Count | Unit cost | Subtotal | Share | Source | | --- | --- | --- | --- | --- | --- | --- | | Actuator | Unitree N5020-16 | 10 | $160 to $546 (modeled) | $1,602 to $5,462 | 35% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Unitree N7520-14.3 | 5 | $237 to $809 (modeled) | $1,187 to $4,045 | 26% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Unitree N7520-22.5 | 4 | $274 to $933 (modeled) | $1,095 to $3,733 | 24% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Unitree N5020-16 (parallel linkage) | 4 | $178 to $607 (modeled) | $712 to $2,427 | 15% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | Actuators: $4,595 to $15,667. Non-actuator BOM not published. Actuators are about 63% of the list price (34 to 116%). Actuator mass: 11.9 kg to 24.2 kg, largest share Unitree N5020-16 (15%), rest of robot 10.8 kg to 23.1 kg (published weight minus actuators). Magnet: 0.673 kg to 1.232 kg, largest share Unitree N7520-14.3 (29%). ## H1 (Unitree Robotics) Unitree's first full-size humanoid: M107 motors at the knees (about 360 N路m), 189 N路m/kg peak torque density, a single-axis ankle. - **Country:** 馃嚚馃嚦 China - **Actuators:** 19 (19 Planetary) - **DOF:** 19 - **Magnet:** 0.59 to 2.70 kg NdFeB (estimated) - **Rare earths:** 0.17 to 1.01 kg (Nd 0.129 to 0.690, Pr 0.034 to 0.216, Dy 0.002 to 0.081, Tb 0.000 to 0.027) Estimated types rest on: motor-gearbox modules at a fixed ratio (Unitree RL Lab configs); Unitree does not name the reducer type, planetary assumed. | Joint | Count | Type | Motor | Peak | At motor | Magnet g | Sources | | --- | --- | --- | --- | --- | --- | --- | --- | | Left knee | 1 | Planetary (estimated) | [Unitree M107](/actuators/unitree-m107) | 360 N路m | 18.18 N路m (22:1, modeled) | 79.2 to 238.6 | [Unitree H1 URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/h1_description/urdf/h1.urdf); [Unitree H1 (peak joint torques)](https://unitree.com/mobile/h1) | | Right knee | 1 | Planetary (estimated) | [Unitree M107](/actuators/unitree-m107) | 360 N路m | 18.18 N路m (22:1, modeled) | 79.2 to 238.6 | [Unitree H1 URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/h1_description/urdf/h1.urdf); [Unitree H1 (peak joint torques)](https://unitree.com/mobile/h1) | | Left hip yaw | 1 | Planetary (estimated) | | 220 N路m | 11.11 N路m (22:1, modeled) | 39.6 to 238.6 | [Unitree H1 URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/h1_description/urdf/h1.urdf); [Unitree H1 (peak joint torques)](https://unitree.com/mobile/h1) | | Right hip yaw | 1 | Planetary (estimated) | | 220 N路m | 11.11 N路m (22:1, modeled) | 39.6 to 238.6 | [Unitree H1 URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/h1_description/urdf/h1.urdf); [Unitree H1 (peak joint torques)](https://unitree.com/mobile/h1) | | Left hip roll | 1 | Planetary (estimated) | | 220 N路m | 11.11 N路m (22:1, modeled) | 39.6 to 238.6 | [Unitree H1 URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/h1_description/urdf/h1.urdf); [Unitree H1 (peak joint torques)](https://unitree.com/mobile/h1) | | Right hip roll | 1 | Planetary (estimated) | | 220 N路m | 11.11 N路m (22:1, modeled) | 39.6 to 238.6 | [Unitree H1 URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/h1_description/urdf/h1.urdf); [Unitree H1 (peak joint torques)](https://unitree.com/mobile/h1) | | Left hip pitch | 1 | Planetary (estimated) | | 220 N路m | 11.11 N路m (22:1, modeled) | 39.6 to 238.6 | [Unitree H1 URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/h1_description/urdf/h1.urdf); [Unitree H1 (peak joint torques)](https://unitree.com/mobile/h1) | | Right hip pitch | 1 | Planetary (estimated) | | 220 N路m | 11.11 N路m (22:1, modeled) | 39.6 to 238.6 | [Unitree H1 URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/h1_description/urdf/h1.urdf); [Unitree H1 (peak joint torques)](https://unitree.com/mobile/h1) | | Waist | 1 | Planetary (estimated) | | 200 N路m | 10.1 N路m (22:1, modeled) | 39.6 to 238.6 | [Unitree H1 URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/h1_description/urdf/h1.urdf) | | Left ankle pitch | 1 | Planetary (estimated) | | 59 N路m | 2.98 N路m (22:1, modeled) | 15.8 to 71.3 | [Unitree H1 URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/h1_description/urdf/h1.urdf); [Unitree H1 (peak joint torques)](https://unitree.com/mobile/h1) | | Right ankle pitch | 1 | Planetary (estimated) | | 59 N路m | 2.98 N路m (22:1, modeled) | 15.8 to 71.3 | [Unitree H1 URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/h1_description/urdf/h1.urdf); [Unitree H1 (peak joint torques)](https://unitree.com/mobile/h1) | | Left shoulder pitch | 1 | Planetary (estimated) | | 40 N路m | 2.02 N路m (22:1, modeled) | 15.8 to 71.3 | [Unitree H1 URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/h1_description/urdf/h1.urdf); [Unitree H1 (peak joint torques)](https://unitree.com/mobile/h1) | | Right shoulder pitch | 1 | Planetary (estimated) | | 40 N路m | 2.02 N路m (22:1, modeled) | 15.8 to 71.3 | [Unitree H1 URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/h1_description/urdf/h1.urdf); [Unitree H1 (peak joint torques)](https://unitree.com/mobile/h1) | | Left shoulder roll | 1 | Planetary (estimated) | | 40 N路m | 2.02 N路m (22:1, modeled) | 15.8 to 71.3 | [Unitree H1 URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/h1_description/urdf/h1.urdf); [Unitree H1 (peak joint torques)](https://unitree.com/mobile/h1) | | Right shoulder roll | 1 | Planetary (estimated) | | 40 N路m | 2.02 N路m (22:1, modeled) | 15.8 to 71.3 | [Unitree H1 URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/h1_description/urdf/h1.urdf); [Unitree H1 (peak joint torques)](https://unitree.com/mobile/h1) | | Left shoulder yaw | 1 | Planetary (estimated) | | 18 N路m | 0.91 N路m (22:1, modeled) | 15.8 to 30.5 | [Unitree H1 URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/h1_description/urdf/h1.urdf) | | Right shoulder yaw | 1 | Planetary (estimated) | | 18 N路m | 0.91 N路m (22:1, modeled) | 15.8 to 30.5 | [Unitree H1 URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/h1_description/urdf/h1.urdf) | | Left elbow | 1 | Planetary (estimated) | | 18 N路m | 0.91 N路m (22:1, modeled) | 15.8 to 30.5 | [Unitree H1 URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/h1_description/urdf/h1.urdf) | | Right elbow | 1 | Planetary (estimated) | | 18 N路m | 0.91 N路m (22:1, modeled) | 15.8 to 30.5 | [Unitree H1 URDF (joint effort limits)](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/h1_description/urdf/h1.urdf) | ### Rare earth by actuator (estimated) | Design | Count | Nd g | Pr g | Dy g | Tb g | Total g | Metal value US$ | | --- | --- | --- | --- | --- | --- | --- | --- | | Planetary 220 N路m | 6 | 153 | 45 | 11 | 3 | 211 (66 to 538) | $34.19 ($9.51 to $105.61) | | Unitree M107 | 2 | 91 | 26 | 6 | 2 | 125 (44 to 179) | $20.30 ($6.34 to $35.20) | | Planetary 40 N路m | 4 | 53 | 15 | 4 | 1 | 73 (18 to 107) | $11.77 ($2.53 to $21.04) | | Planetary 59 N路m | 2 | 26 | 8 | 2 | 1 | 36 (9 to 54) | $5.88 ($1.27 to $10.52) | | Planetary 200 N路m | 1 | 25 | 7 | 2 | 1 | 35 (11 to 90) | $5.70 ($1.59 to $17.60) | | Planetary 18 N路m | 4 | 22 | 6 | 2 | 0 | 30 (18 to 46) | $4.92 ($2.53 to $9.00) | ### Robot BOM | Group | Part | Count | Unit cost | Subtotal | Share | Source | | --- | --- | --- | --- | --- | --- | --- | | Actuator | Planetary 220 N路m | 6 | $316 to $1,077 (modeled) | $1,895 to $6,462 | 41% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Planetary 40 N路m | 4 | $186 to $633 (modeled) | $742 to $2,530 | 16% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Unitree M107 | 2 | $368 to $1,256 (modeled) | $737 to $2,512 | 16% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Planetary 18 N路m | 4 | $145 to $493 (modeled) | $578 to $1,972 | 12% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Planetary 59 N路m | 2 | $209 to $714 (modeled) | $419 to $1,428 | 9% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Planetary 200 N路m | 1 | $307 to $1,045 (modeled) | $307 to $1,045 | 7% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | Actuators: $4,678 to $15,950. Non-actuator BOM not published. Actuators are about 10% of the list price (5 to 18%). Actuator mass: 13.4 kg to 27.3 kg, largest share Planetary 220 N路m (18%), rest of robot 19.7 kg to 33.6 kg (published weight minus actuators). Magnet: 0.594 kg to 2.697 kg, largest share Planetary 220 N路m (41%). ## H2 (Unitree Robotics) Full-size 31-DOF successor to H1: up to 360 N路m at the leg joints and 120 N路m at the arms. - **Country:** 馃嚚馃嚦 China - **Actuators:** 31 (29 Planetary, 2 Undisclosed) - **DOF:** 31 - **Magnet:** 1.18 to 4.86 kg NdFeB (estimated) - **Rare earths:** 0.33 to 1.83 kg (Nd 0.256 to 1.244, Pr 0.068 to 0.389, Dy 0.004 to 0.146, Tb 0.000 to 0.049) Estimated types rest on: motor-gearbox modules at a fixed ratio (Unitree RL Lab configs); Unitree does not name the reducer type, planetary assumed. Unitree gives 31 DOF, 360 N路m legs and 120 N路m arms but no joint table; 6 per leg, 7 per arm, 3 waist and 2 neck assumed / Unitree gives 31 DOF, 360 N路m legs and 120 N路m arms but no joint table; 6 per leg, 7 per arm, 3 waist and 2 neck assumed. | Joint | Count | Type | Motor | Peak | At motor | Magnet g | Sources | | --- | --- | --- | --- | --- | --- | --- | --- | | Left hip pitch | 1 | Planetary (estimated) | | 360 N路m (estimated) | 18.18 N路m (22:1, modeled) | 79.2 to 238.6 | [Unitree H2](https://www.unitree.com/H2/); [KrASIA: Unitree H2 (31 DOF, 360 N路m legs, 120 N路m arms)](https://kr-asia.com/unitrees-new-h2-brings-streamlined-elegance-to-humanoid-robotics) | | Right hip pitch | 1 | Planetary (estimated) | | 360 N路m (estimated) | 18.18 N路m (22:1, modeled) | 79.2 to 238.6 | [Unitree H2](https://www.unitree.com/H2/); [KrASIA: Unitree H2 (31 DOF, 360 N路m legs, 120 N路m arms)](https://kr-asia.com/unitrees-new-h2-brings-streamlined-elegance-to-humanoid-robotics) | | Left knee | 1 | Planetary (estimated) | | 360 N路m (estimated) | 18.18 N路m (22:1, modeled) | 79.2 to 238.6 | [Unitree H2](https://www.unitree.com/H2/); [KrASIA: Unitree H2 (31 DOF, 360 N路m legs, 120 N路m arms)](https://kr-asia.com/unitrees-new-h2-brings-streamlined-elegance-to-humanoid-robotics) | | Right knee | 1 | Planetary (estimated) | | 360 N路m (estimated) | 18.18 N路m (22:1, modeled) | 79.2 to 238.6 | [Unitree H2](https://www.unitree.com/H2/); [KrASIA: Unitree H2 (31 DOF, 360 N路m legs, 120 N路m arms)](https://kr-asia.com/unitrees-new-h2-brings-streamlined-elegance-to-humanoid-robotics) | | Left hip yaw | 1 | Planetary (estimated) | | | 7.58 N路m (22:1, modeled) | 39.6 to 238.6 | [Unitree H2](https://www.unitree.com/H2/); [KrASIA: Unitree H2 (31 DOF, 360 N路m legs, 120 N路m arms)](https://kr-asia.com/unitrees-new-h2-brings-streamlined-elegance-to-humanoid-robotics) | | Right hip yaw | 1 | Planetary (estimated) | | | 7.58 N路m (22:1, modeled) | 39.6 to 238.6 | [Unitree H2](https://www.unitree.com/H2/); [KrASIA: Unitree H2 (31 DOF, 360 N路m legs, 120 N路m arms)](https://kr-asia.com/unitrees-new-h2-brings-streamlined-elegance-to-humanoid-robotics) | | Left hip roll | 1 | Planetary (estimated) | | | 7.58 N路m (22:1, modeled) | 39.6 to 238.6 | [Unitree H2](https://www.unitree.com/H2/); [KrASIA: Unitree H2 (31 DOF, 360 N路m legs, 120 N路m arms)](https://kr-asia.com/unitrees-new-h2-brings-streamlined-elegance-to-humanoid-robotics) | | Right hip roll | 1 | Planetary (estimated) | | | 7.58 N路m (22:1, modeled) | 39.6 to 238.6 | [Unitree H2](https://www.unitree.com/H2/); [KrASIA: Unitree H2 (31 DOF, 360 N路m legs, 120 N路m arms)](https://kr-asia.com/unitrees-new-h2-brings-streamlined-elegance-to-humanoid-robotics) | | Left ankle pitch | 1 | Planetary (estimated) | | | 7.58 N路m (22:1, modeled) | 39.6 to 238.6 | [Unitree H2](https://www.unitree.com/H2/); [KrASIA: Unitree H2 (31 DOF, 360 N路m legs, 120 N路m arms)](https://kr-asia.com/unitrees-new-h2-brings-streamlined-elegance-to-humanoid-robotics) | | Right ankle pitch | 1 | Planetary (estimated) | | | 7.58 N路m (22:1, modeled) | 39.6 to 238.6 | [Unitree H2](https://www.unitree.com/H2/); [KrASIA: Unitree H2 (31 DOF, 360 N路m legs, 120 N路m arms)](https://kr-asia.com/unitrees-new-h2-brings-streamlined-elegance-to-humanoid-robotics) | | Left ankle roll | 1 | Planetary (estimated) | | | 7.58 N路m (22:1, modeled) | 39.6 to 238.6 | [Unitree H2](https://www.unitree.com/H2/); [KrASIA: Unitree H2 (31 DOF, 360 N路m legs, 120 N路m arms)](https://kr-asia.com/unitrees-new-h2-brings-streamlined-elegance-to-humanoid-robotics) | | Right ankle roll | 1 | Planetary (estimated) | | | 7.58 N路m (22:1, modeled) | 39.6 to 238.6 | [Unitree H2](https://www.unitree.com/H2/); [KrASIA: Unitree H2 (31 DOF, 360 N路m legs, 120 N路m arms)](https://kr-asia.com/unitrees-new-h2-brings-streamlined-elegance-to-humanoid-robotics) | | Left shoulder pitch | 1 | Planetary (estimated) | | 120 N路m (estimated) | 6.06 N路m (22:1, modeled) | 39.6 to 135.7 | [Unitree H2](https://www.unitree.com/H2/); [KrASIA: Unitree H2 (31 DOF, 360 N路m legs, 120 N路m arms)](https://kr-asia.com/unitrees-new-h2-brings-streamlined-elegance-to-humanoid-robotics) | | Right shoulder pitch | 1 | Planetary (estimated) | | 120 N路m (estimated) | 6.06 N路m (22:1, modeled) | 39.6 to 135.7 | [Unitree H2](https://www.unitree.com/H2/); [KrASIA: Unitree H2 (31 DOF, 360 N路m legs, 120 N路m arms)](https://kr-asia.com/unitrees-new-h2-brings-streamlined-elegance-to-humanoid-robotics) | | Left shoulder roll | 1 | Planetary (estimated) | | 120 N路m (estimated) | 6.06 N路m (22:1, modeled) | 39.6 to 135.7 | [Unitree H2](https://www.unitree.com/H2/); [KrASIA: Unitree H2 (31 DOF, 360 N路m legs, 120 N路m arms)](https://kr-asia.com/unitrees-new-h2-brings-streamlined-elegance-to-humanoid-robotics) | | Right shoulder roll | 1 | Planetary (estimated) | | 120 N路m (estimated) | 6.06 N路m (22:1, modeled) | 39.6 to 135.7 | [Unitree H2](https://www.unitree.com/H2/); [KrASIA: Unitree H2 (31 DOF, 360 N路m legs, 120 N路m arms)](https://kr-asia.com/unitrees-new-h2-brings-streamlined-elegance-to-humanoid-robotics) | | Left shoulder yaw | 1 | Planetary (estimated) | | | 3.54 N路m (22:1, modeled) | 39.6 to 71.3 | [Unitree H2](https://www.unitree.com/H2/); [KrASIA: Unitree H2 (31 DOF, 360 N路m legs, 120 N路m arms)](https://kr-asia.com/unitrees-new-h2-brings-streamlined-elegance-to-humanoid-robotics) | | Right shoulder yaw | 1 | Planetary (estimated) | | | 3.54 N路m (22:1, modeled) | 39.6 to 71.3 | [Unitree H2](https://www.unitree.com/H2/); [KrASIA: Unitree H2 (31 DOF, 360 N路m legs, 120 N路m arms)](https://kr-asia.com/unitrees-new-h2-brings-streamlined-elegance-to-humanoid-robotics) | | Left elbow | 1 | Planetary (estimated) | | | 3.54 N路m (22:1, modeled) | 39.6 to 71.3 | [Unitree H2](https://www.unitree.com/H2/); [KrASIA: Unitree H2 (31 DOF, 360 N路m legs, 120 N路m arms)](https://kr-asia.com/unitrees-new-h2-brings-streamlined-elegance-to-humanoid-robotics) | | Right elbow | 1 | Planetary (estimated) | | | 3.54 N路m (22:1, modeled) | 39.6 to 71.3 | [Unitree H2](https://www.unitree.com/H2/); [KrASIA: Unitree H2 (31 DOF, 360 N路m legs, 120 N路m arms)](https://kr-asia.com/unitrees-new-h2-brings-streamlined-elegance-to-humanoid-robotics) | | Left wrist | 3 | Planetary (estimated) | | | 1.26 N路m (22:1, modeled) | 47.4 to 213.9 | [Unitree H2](https://www.unitree.com/H2/); [KrASIA: Unitree H2 (31 DOF, 360 N路m legs, 120 N路m arms)](https://kr-asia.com/unitrees-new-h2-brings-streamlined-elegance-to-humanoid-robotics) | | Right wrist | 3 | Planetary (estimated) | | | 1.26 N路m (22:1, modeled) | 47.4 to 213.9 | [Unitree H2](https://www.unitree.com/H2/); [KrASIA: Unitree H2 (31 DOF, 360 N路m legs, 120 N路m arms)](https://kr-asia.com/unitrees-new-h2-brings-streamlined-elegance-to-humanoid-robotics) | | Waist | 3 | Planetary (estimated) | | | 7.58 N路m (22:1, modeled) | 118.8 to 715.8 | [Unitree H2](https://www.unitree.com/H2/); [KrASIA: Unitree H2 (31 DOF, 360 N路m legs, 120 N路m arms)](https://kr-asia.com/unitrees-new-h2-brings-streamlined-elegance-to-humanoid-robotics) | | Neck | 2 | Undisclosed (estimated) | | | 0.24 N路m (25:1, modeled) | 10.8 to 23.4 | [Unitree H2](https://www.unitree.com/H2/); [KrASIA: Unitree H2 (31 DOF, 360 N路m legs, 120 N路m arms)](https://kr-asia.com/unitrees-new-h2-brings-streamlined-elegance-to-humanoid-robotics) | ### Rare earth by actuator (estimated) | Design | Count | Nd g | Pr g | Dy g | Tb g | Total g | Metal value US$ | | --- | --- | --- | --- | --- | --- | --- | --- | | Planetary 360 N路m | 4 | 181 | 53 | 13 | 4 | 251 (88 to 359) | $40.60 ($12.68 to $70.41) | | Planetary, L class | 11 | 145 | 42 | 10 | 3 | 200 (122 to 987) | $32.36 ($17.44 to $193.62) | | Planetary 120 N路m | 4 | 53 | 15 | 4 | 1 | 73 (44 to 204) | $11.77 ($6.34 to $40.04) | | Planetary, M class | 4 | 53 | 15 | 4 | 1 | 73 (44 to 107) | $11.77 ($6.34 to $21.04) | | Planetary, S class | 6 | 33 | 10 | 2 | 1 | 45 (26 to 161) | $7.35 ($3.80 to $31.56) | | Undisclosed, XS class | 2 | 4 | 1 | 0 | 0 | 6 (3 to 9) | $0.91 ($0.43 to $1.73) | ### Robot BOM | Group | Part | Count | Unit cost | Subtotal | Share | Source | | --- | --- | --- | --- | --- | --- | --- | | Actuator | Planetary, L class | 11 | $280 to $956 (modeled) | $3,083 to $10,512 | 41% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Planetary 360 N路m | 4 | $368 to $1,256 (modeled) | $1,474 to $5,024 | 20% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Planetary 120 N路m | 4 | $261 to $891 (modeled) | $1,046 to $3,565 | 14% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Planetary, S class | 6 | $160 to $546 (modeled) | $961 to $3,277 | 13% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Planetary, M class | 4 | $221 to $753 (modeled) | $884 to $3,013 | 12% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | Actuators: $7,447 to $25,391. Non-actuator BOM not published. Actuators are about 46% of the list price (25 to 85%). Actuator mass: 21.4 kg to 43.6 kg, largest share Planetary, L class (18%), rest of robot 26.4 kg to 48.6 kg (published weight minus actuators). Magnet: 1.175 kg to 4.858 kg, largest share Planetary 360 N路m (39%). Not costed: Undisclosed, XS class x2 (micro motor: no defensible unit cost). ## T1 (Booster Robotics) Adult-size RoboCup platform; knees reach 130.5 N路m. Joint torques from Booster's URDF. - **Country:** 馃嚚馃嚦 China - **Actuators:** 23 (23 Undisclosed) - **DOF:** 23 - **Magnet:** 0.32 to 1.94 kg NdFeB (estimated) - **Rare earths:** 0.09 to 0.73 kg (Nd 0.070 to 0.497, Pr 0.019 to 0.155, Dy 0.001 to 0.058, Tb 0.000 to 0.019) Estimated types rest on: brushless DC joints with dual encoders; Booster does not name the reducer / brushless DC joints with dual encoders; Booster does not name the reducer; the URDF's elbow yaw is mapped to shoulder yaw. | Joint | Count | Type | Motor | Peak | At motor | Magnet g | Sources | | --- | --- | --- | --- | --- | --- | --- | --- | | Neck | 2 | Undisclosed (estimated) | | 7 N路m | 0.33 N路m (25:1, modeled) | 10.8 to 61.0 | [Booster T1 23-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/T1/T1_23dof.urdf); [RoboCup HSL spec sheet: Booster T1 brushless DC joints](https://hsl.robocup.org/wp-content/uploads/2026/03/large_Robotedge-specs-698021eff19c7.pdf) | | Left shoulder pitch | 1 | Undisclosed (estimated) | | 38.3 N路m | 1.8 N路m (25:1, modeled) | 15.8 to 71.3 | [Booster T1 23-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/T1/T1_23dof.urdf); [RoboCup HSL spec sheet: Booster T1 brushless DC joints](https://hsl.robocup.org/wp-content/uploads/2026/03/large_Robotedge-specs-698021eff19c7.pdf) | | Right shoulder pitch | 1 | Undisclosed (estimated) | | 38.3 N路m | 1.8 N路m (25:1, modeled) | 15.8 to 71.3 | [Booster T1 23-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/T1/T1_23dof.urdf); [RoboCup HSL spec sheet: Booster T1 brushless DC joints](https://hsl.robocup.org/wp-content/uploads/2026/03/large_Robotedge-specs-698021eff19c7.pdf) | | Left shoulder roll | 1 | Undisclosed (estimated) | | 38.3 N路m | 1.8 N路m (25:1, modeled) | 15.8 to 71.3 | [Booster T1 23-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/T1/T1_23dof.urdf); [RoboCup HSL spec sheet: Booster T1 brushless DC joints](https://hsl.robocup.org/wp-content/uploads/2026/03/large_Robotedge-specs-698021eff19c7.pdf) | | Right shoulder roll | 1 | Undisclosed (estimated) | | 38.3 N路m | 1.8 N路m (25:1, modeled) | 15.8 to 71.3 | [Booster T1 23-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/T1/T1_23dof.urdf); [RoboCup HSL spec sheet: Booster T1 brushless DC joints](https://hsl.robocup.org/wp-content/uploads/2026/03/large_Robotedge-specs-698021eff19c7.pdf) | | Left shoulder yaw | 1 | Undisclosed (estimated) | | 38.3 N路m | 1.8 N路m (25:1, modeled) | 15.8 to 71.3 | [Booster T1 23-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/T1/T1_23dof.urdf); [RoboCup HSL spec sheet: Booster T1 brushless DC joints](https://hsl.robocup.org/wp-content/uploads/2026/03/large_Robotedge-specs-698021eff19c7.pdf) | | Right shoulder yaw | 1 | Undisclosed (estimated) | | 38.3 N路m | 1.8 N路m (25:1, modeled) | 15.8 to 71.3 | [Booster T1 23-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/T1/T1_23dof.urdf); [RoboCup HSL spec sheet: Booster T1 brushless DC joints](https://hsl.robocup.org/wp-content/uploads/2026/03/large_Robotedge-specs-698021eff19c7.pdf) | | Left elbow | 1 | Undisclosed (estimated) | | 38.3 N路m | 1.8 N路m (25:1, modeled) | 15.8 to 71.3 | [Booster T1 23-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/T1/T1_23dof.urdf); [RoboCup HSL spec sheet: Booster T1 brushless DC joints](https://hsl.robocup.org/wp-content/uploads/2026/03/large_Robotedge-specs-698021eff19c7.pdf) | | Right elbow | 1 | Undisclosed (estimated) | | 38.3 N路m | 1.8 N路m (25:1, modeled) | 15.8 to 71.3 | [Booster T1 23-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/T1/T1_23dof.urdf); [RoboCup HSL spec sheet: Booster T1 brushless DC joints](https://hsl.robocup.org/wp-content/uploads/2026/03/large_Robotedge-specs-698021eff19c7.pdf) | | Waist | 1 | Undisclosed (estimated) | | 68 N路m | 3.2 N路m (25:1, modeled) | 15.8 to 71.3 | [Booster T1 23-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/T1/T1_23dof.urdf); [RoboCup HSL spec sheet: Booster T1 brushless DC joints](https://hsl.robocup.org/wp-content/uploads/2026/03/large_Robotedge-specs-698021eff19c7.pdf) | | Left hip roll | 1 | Undisclosed (estimated) | | 68 N路m | 3.2 N路m (25:1, modeled) | 15.8 to 71.3 | [Booster T1 23-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/T1/T1_23dof.urdf); [RoboCup HSL spec sheet: Booster T1 brushless DC joints](https://hsl.robocup.org/wp-content/uploads/2026/03/large_Robotedge-specs-698021eff19c7.pdf) | | Right hip roll | 1 | Undisclosed (estimated) | | 68 N路m | 3.2 N路m (25:1, modeled) | 15.8 to 71.3 | [Booster T1 23-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/T1/T1_23dof.urdf); [RoboCup HSL spec sheet: Booster T1 brushless DC joints](https://hsl.robocup.org/wp-content/uploads/2026/03/large_Robotedge-specs-698021eff19c7.pdf) | | Left hip yaw | 1 | Undisclosed (estimated) | | 68 N路m | 3.2 N路m (25:1, modeled) | 15.8 to 71.3 | [Booster T1 23-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/T1/T1_23dof.urdf); [RoboCup HSL spec sheet: Booster T1 brushless DC joints](https://hsl.robocup.org/wp-content/uploads/2026/03/large_Robotedge-specs-698021eff19c7.pdf) | | Right hip yaw | 1 | Undisclosed (estimated) | | 68 N路m | 3.2 N路m (25:1, modeled) | 15.8 to 71.3 | [Booster T1 23-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/T1/T1_23dof.urdf); [RoboCup HSL spec sheet: Booster T1 brushless DC joints](https://hsl.robocup.org/wp-content/uploads/2026/03/large_Robotedge-specs-698021eff19c7.pdf) | | Left hip pitch | 1 | Undisclosed (estimated) | | 98.8 N路m | 4.65 N路m (25:1, modeled) | 15.8 to 135.7 | [Booster T1 23-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/T1/T1_23dof.urdf); [RoboCup HSL spec sheet: Booster T1 brushless DC joints](https://hsl.robocup.org/wp-content/uploads/2026/03/large_Robotedge-specs-698021eff19c7.pdf) | | Right hip pitch | 1 | Undisclosed (estimated) | | 98.8 N路m | 4.65 N路m (25:1, modeled) | 15.8 to 135.7 | [Booster T1 23-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/T1/T1_23dof.urdf); [RoboCup HSL spec sheet: Booster T1 brushless DC joints](https://hsl.robocup.org/wp-content/uploads/2026/03/large_Robotedge-specs-698021eff19c7.pdf) | | Left knee | 1 | Undisclosed (estimated) | | 130.5 N路m | 6.14 N路m (25:1, modeled) | 15.8 to 238.6 | [Booster T1 23-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/T1/T1_23dof.urdf); [RoboCup HSL spec sheet: Booster T1 brushless DC joints](https://hsl.robocup.org/wp-content/uploads/2026/03/large_Robotedge-specs-698021eff19c7.pdf) | | Right knee | 1 | Undisclosed (estimated) | | 130.5 N路m | 6.14 N路m (25:1, modeled) | 15.8 to 238.6 | [Booster T1 23-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/T1/T1_23dof.urdf); [RoboCup HSL spec sheet: Booster T1 brushless DC joints](https://hsl.robocup.org/wp-content/uploads/2026/03/large_Robotedge-specs-698021eff19c7.pdf) | | Left ankle pitch | 1 | Undisclosed (estimated) | | 73.1 N路m | 3.44 N路m (25:1, modeled) | 15.8 to 71.3 | [Booster T1 23-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/T1/T1_23dof.urdf); [RoboCup HSL spec sheet: Booster T1 brushless DC joints](https://hsl.robocup.org/wp-content/uploads/2026/03/large_Robotedge-specs-698021eff19c7.pdf) | | Right ankle pitch | 1 | Undisclosed (estimated) | | 73.1 N路m | 3.44 N路m (25:1, modeled) | 15.8 to 71.3 | [Booster T1 23-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/T1/T1_23dof.urdf); [RoboCup HSL spec sheet: Booster T1 brushless DC joints](https://hsl.robocup.org/wp-content/uploads/2026/03/large_Robotedge-specs-698021eff19c7.pdf) | | Left ankle roll | 1 | Undisclosed (estimated) | | 17.2 N路m | 0.81 N路m (25:1, modeled) | 5.4 to 30.5 | [Booster T1 23-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/T1/T1_23dof.urdf); [RoboCup HSL spec sheet: Booster T1 brushless DC joints](https://hsl.robocup.org/wp-content/uploads/2026/03/large_Robotedge-specs-698021eff19c7.pdf) | | Right ankle roll | 1 | Undisclosed (estimated) | | 17.2 N路m | 0.81 N路m (25:1, modeled) | 5.4 to 30.5 | [Booster T1 23-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/T1/T1_23dof.urdf); [RoboCup HSL spec sheet: Booster T1 brushless DC joints](https://hsl.robocup.org/wp-content/uploads/2026/03/large_Robotedge-specs-698021eff19c7.pdf) | ### Rare earth by actuator (estimated) | Design | Count | Nd g | Pr g | Dy g | Tb g | Total g | Metal value US$ | | --- | --- | --- | --- | --- | --- | --- | --- | | Undisclosed 68 N路m | 5 | 66 | 19 | 5 | 1 | 91 (22 to 134) | $14.71 ($3.16 to $26.30) | | Undisclosed 38.3 N路m | 8 | 44 | 13 | 3 | 1 | 61 (35 to 214) | $9.84 ($5.06 to $42.08) | | Undisclosed 98.8 N路m | 2 | 26 | 8 | 2 | 1 | 36 (9 to 102) | $5.88 ($1.27 to $20.02) | | Undisclosed 130.5 N路m | 2 | 26 | 8 | 2 | 1 | 36 (9 to 179) | $5.88 ($1.27 to $35.20) | | Undisclosed 73.1 N路m | 2 | 26 | 8 | 2 | 1 | 36 (9 to 54) | $5.88 ($1.27 to $10.52) | | Undisclosed 17.2 N路m | 2 | 11 | 3 | 1 | 0 | 15 (3 to 23) | $2.46 ($0.43 to $4.50) | | Undisclosed 7 N路m | 2 | 4 | 1 | 0 | 0 | 6 (3 to 23) | $0.91 ($0.43 to $4.50) | ### Robot BOM | Group | Part | Count | Unit cost | Subtotal | Share | Source | | --- | --- | --- | --- | --- | --- | --- | | Actuator | Undisclosed 38.3 N路m | 8 | $183 to $624 (modeled) | $1,464 to $4,992 | 32% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed 68 N路m | 5 | $219 to $746 (modeled) | $1,095 to $3,732 | 24% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed 130.5 N路m | 2 | $268 to $915 (modeled) | $537 to $1,830 | 12% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed 98.8 N路m | 2 | $246 to $839 (modeled) | $492 to $1,678 | 11% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed 73.1 N路m | 2 | $224 to $764 (modeled) | $448 to $1,527 | 10% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed 17.2 N路m | 2 | $143 to $486 (modeled) | $285 to $972 | 6% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed 7 N路m | 2 | $108 to $367 (modeled) | $215 to $734 | 5% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | Actuators: $4,536 to $15,466. Non-actuator BOM not published. Actuator mass: 11.7 kg to 23.7 kg, largest share Undisclosed 38.3 N路m (17%), rest of robot 6.3 kg to 18.3 kg (published weight minus actuators). Magnet: 0.322 kg to 1.940 kg, largest share Undisclosed 68 N路m (32%). ## K1 (Booster Robotics) Kid-size RoboCup champion platform: 6 joints per leg, 4 per arm, 2 in the head. - **Country:** 馃嚚馃嚦 China - **Actuators:** 22 (22 Undisclosed) - **DOF:** 22 - **Magnet:** 0.24 to 1.29 kg NdFeB (estimated) - **Rare earths:** 0.07 to 0.48 kg (Nd 0.053 to 0.330, Pr 0.014 to 0.103, Dy 0.001 to 0.039, Tb 0.000 to 0.013) Estimated types rest on: brushless DC joints with dual encoders; Booster does not name the reducer / brushless DC joints with dual encoders; Booster does not name the reducer; the URDF's elbow yaw is mapped to shoulder yaw. | Joint | Count | Type | Motor | Peak | At motor | Magnet g | Sources | | --- | --- | --- | --- | --- | --- | --- | --- | | Neck | 2 | Undisclosed (estimated) | | 6 N路m | 0.28 N路m (25:1, modeled) | 10.8 to 61.0 | [Booster K1 22-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/K1/K1_22dof.urdf) | | Left shoulder pitch | 1 | Undisclosed (estimated) | | 14 N路m | 0.66 N路m (25:1, modeled) | 5.4 to 30.5 | [Booster K1 22-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/K1/K1_22dof.urdf) | | Right shoulder pitch | 1 | Undisclosed (estimated) | | 14 N路m | 0.66 N路m (25:1, modeled) | 5.4 to 30.5 | [Booster K1 22-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/K1/K1_22dof.urdf) | | Left shoulder roll | 1 | Undisclosed (estimated) | | 14 N路m | 0.66 N路m (25:1, modeled) | 5.4 to 30.5 | [Booster K1 22-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/K1/K1_22dof.urdf) | | Right shoulder roll | 1 | Undisclosed (estimated) | | 14 N路m | 0.66 N路m (25:1, modeled) | 5.4 to 30.5 | [Booster K1 22-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/K1/K1_22dof.urdf) | | Left shoulder yaw | 1 | Undisclosed (estimated) | | 14 N路m | 0.66 N路m (25:1, modeled) | 5.4 to 30.5 | [Booster K1 22-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/K1/K1_22dof.urdf) | | Right shoulder yaw | 1 | Undisclosed (estimated) | | 14 N路m | 0.66 N路m (25:1, modeled) | 5.4 to 30.5 | [Booster K1 22-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/K1/K1_22dof.urdf) | | Left elbow | 1 | Undisclosed (estimated) | | 14 N路m | 0.66 N路m (25:1, modeled) | 5.4 to 30.5 | [Booster K1 22-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/K1/K1_22dof.urdf) | | Right elbow | 1 | Undisclosed (estimated) | | 14 N路m | 0.66 N路m (25:1, modeled) | 5.4 to 30.5 | [Booster K1 22-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/K1/K1_22dof.urdf) | | Left hip pitch | 1 | Undisclosed (estimated) | | 68 N路m | 3.2 N路m (25:1, modeled) | 15.8 to 71.3 | [Booster K1 22-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/K1/K1_22dof.urdf) | | Right hip pitch | 1 | Undisclosed (estimated) | | 68 N路m | 3.2 N路m (25:1, modeled) | 15.8 to 71.3 | [Booster K1 22-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/K1/K1_22dof.urdf) | | Left hip roll | 1 | Undisclosed (estimated) | | 43 N路m | 2.02 N路m (25:1, modeled) | 15.8 to 71.3 | [Booster K1 22-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/K1/K1_22dof.urdf) | | Right hip roll | 1 | Undisclosed (estimated) | | 43 N路m | 2.02 N路m (25:1, modeled) | 15.8 to 71.3 | [Booster K1 22-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/K1/K1_22dof.urdf) | | Left hip yaw | 1 | Undisclosed (estimated) | | 38.3 N路m | 1.8 N路m (25:1, modeled) | 15.8 to 71.3 | [Booster K1 22-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/K1/K1_22dof.urdf) | | Right hip yaw | 1 | Undisclosed (estimated) | | 38.3 N路m | 1.8 N路m (25:1, modeled) | 15.8 to 71.3 | [Booster K1 22-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/K1/K1_22dof.urdf) | | Left ankle pitch | 1 | Undisclosed (estimated) | | 38.3 N路m | 1.8 N路m (25:1, modeled) | 15.8 to 71.3 | [Booster K1 22-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/K1/K1_22dof.urdf) | | Right ankle pitch | 1 | Undisclosed (estimated) | | 38.3 N路m | 1.8 N路m (25:1, modeled) | 15.8 to 71.3 | [Booster K1 22-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/K1/K1_22dof.urdf) | | Left ankle roll | 1 | Undisclosed (estimated) | | 38.3 N路m | 1.8 N路m (25:1, modeled) | 15.8 to 71.3 | [Booster K1 22-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/K1/K1_22dof.urdf) | | Right ankle roll | 1 | Undisclosed (estimated) | | 38.3 N路m | 1.8 N路m (25:1, modeled) | 15.8 to 71.3 | [Booster K1 22-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/K1/K1_22dof.urdf) | | Left knee | 1 | Undisclosed (estimated) | | 112 N路m | 5.27 N路m (25:1, modeled) | 15.8 to 135.7 | [Booster K1 22-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/K1/K1_22dof.urdf) | | Right knee | 1 | Undisclosed (estimated) | | 112 N路m | 5.27 N路m (25:1, modeled) | 15.8 to 135.7 | [Booster K1 22-DOF URDF](https://github.com/BoosterRobotics/booster_assets/blob/main/robots/K1/K1_22dof.urdf) | ### Rare earth by actuator (estimated) | Design | Count | Nd g | Pr g | Dy g | Tb g | Total g | Metal value US$ | | --- | --- | --- | --- | --- | --- | --- | --- | | Undisclosed 14 N路m | 8 | 44 | 13 | 3 | 1 | 61 (12 to 92) | $9.84 ($1.73 to $18.00) | | Undisclosed 38.3 N路m | 6 | 33 | 10 | 2 | 1 | 46 (26 to 161) | $7.38 ($3.80 to $31.56) | | Undisclosed 68 N路m | 2 | 26 | 8 | 2 | 1 | 36 (9 to 54) | $5.88 ($1.27 to $10.52) | | Undisclosed 43 N路m | 2 | 26 | 8 | 2 | 1 | 36 (9 to 54) | $5.88 ($1.27 to $10.52) | | Undisclosed 112 N路m | 2 | 26 | 8 | 2 | 1 | 36 (9 to 102) | $5.88 ($1.27 to $20.02) | | Undisclosed 6 N路m | 2 | 4 | 1 | 0 | 0 | 6 (3 to 23) | $0.91 ($0.43 to $4.50) | ### Robot BOM | Group | Part | Count | Unit cost | Subtotal | Share | Source | | --- | --- | --- | --- | --- | --- | --- | | Actuator | Undisclosed 38.3 N路m | 6 | $183 to $624 (modeled) | $1,098 to $3,744 | 31% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed 14 N路m | 8 | $134 to $456 (modeled) | $1,069 to $3,646 | 31% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed 112 N路m | 2 | $256 to $872 (modeled) | $512 to $1,745 | 15% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed 68 N路m | 2 | $219 to $746 (modeled) | $438 to $1,493 | 13% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed 43 N路m | 2 | $190 to $647 (modeled) | $380 to $1,294 | 11% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | Actuators: $3,497 to $11,922. Non-actuator BOM not published. Actuator mass: 9.0 kg to 18.2 kg, largest share Undisclosed 38.3 N路m (20%), rest of robot 1.3 kg to 10.5 kg (published weight minus actuators). Magnet: 0.244 kg to 1.289 kg, largest share Undisclosed 14 N路m (27%). Not costed: Undisclosed 6 N路m x2 (below the catalog price fit range (7 N路m)). ## Walker S2 (UBTECH Robotics) Factory humanoid that swaps its own battery. The SDK lists 42 integrated joint motors with 6-DOF hands; marketing quotes 52 DOF with 11-DOF hands. - **Country:** 馃嚚馃嚦 China - **Actuators:** 42 (42 Undisclosed) - **DOF:** 52 - **Magnet:** 0.46 to 3.16 kg NdFeB (estimated) - **Rare earths:** 0.13 to 1.19 kg (Nd 0.099 to 0.810, Pr 0.026 to 0.253, Dy 0.002 to 0.095, Tb 0.000 to 0.032) Estimated types rest on: UBTECH integrated servo joint motors; reducer types and leg torques not released / UBTECH integrated servo joint motors; reducer types and leg torques not released; 6 per leg, 7 per arm, 2 waist assumed from the 42-motor count. | Joint | Count | Type | Motor | Peak | At motor | Magnet g | Sources | | --- | --- | --- | --- | --- | --- | --- | --- | | Neck | 2 | Undisclosed (estimated) | | 4.5 N路m | 0.21 N路m (25:1, modeled) | 10.8 to 23.4 | [UBTECH Walker S2 SDK document (42 joint motors, head 4.5 N路m peak)](https://a.storyblok.com/f/298593/x/1329253096/ubtech-walker-s2-sdk-secondary-development-document-external.pdf) | | Left hip pitch | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [UBTECH Walker S2 SDK document (42 joint motors, head 4.5 N路m peak)](https://a.storyblok.com/f/298593/x/1329253096/ubtech-walker-s2-sdk-secondary-development-document-external.pdf); [Humanoid Press: Walker S2 (torque curves not released)](https://humanoid.press/database/humanoid-press-walker-s2/) | | Right hip pitch | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [UBTECH Walker S2 SDK document (42 joint motors, head 4.5 N路m peak)](https://a.storyblok.com/f/298593/x/1329253096/ubtech-walker-s2-sdk-secondary-development-document-external.pdf); [Humanoid Press: Walker S2 (torque curves not released)](https://humanoid.press/database/humanoid-press-walker-s2/) | | Left knee | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [UBTECH Walker S2 SDK document (42 joint motors, head 4.5 N路m peak)](https://a.storyblok.com/f/298593/x/1329253096/ubtech-walker-s2-sdk-secondary-development-document-external.pdf); [Humanoid Press: Walker S2 (torque curves not released)](https://humanoid.press/database/humanoid-press-walker-s2/) | | Right knee | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [UBTECH Walker S2 SDK document (42 joint motors, head 4.5 N路m peak)](https://a.storyblok.com/f/298593/x/1329253096/ubtech-walker-s2-sdk-secondary-development-document-external.pdf); [Humanoid Press: Walker S2 (torque curves not released)](https://humanoid.press/database/humanoid-press-walker-s2/) | | Left hip yaw | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [UBTECH Walker S2 SDK document (42 joint motors, head 4.5 N路m peak)](https://a.storyblok.com/f/298593/x/1329253096/ubtech-walker-s2-sdk-secondary-development-document-external.pdf); [Humanoid Press: Walker S2 (torque curves not released)](https://humanoid.press/database/humanoid-press-walker-s2/) | | Right hip yaw | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [UBTECH Walker S2 SDK document (42 joint motors, head 4.5 N路m peak)](https://a.storyblok.com/f/298593/x/1329253096/ubtech-walker-s2-sdk-secondary-development-document-external.pdf); [Humanoid Press: Walker S2 (torque curves not released)](https://humanoid.press/database/humanoid-press-walker-s2/) | | Left hip roll | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [UBTECH Walker S2 SDK document (42 joint motors, head 4.5 N路m peak)](https://a.storyblok.com/f/298593/x/1329253096/ubtech-walker-s2-sdk-secondary-development-document-external.pdf); [Humanoid Press: Walker S2 (torque curves not released)](https://humanoid.press/database/humanoid-press-walker-s2/) | | Right hip roll | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [UBTECH Walker S2 SDK document (42 joint motors, head 4.5 N路m peak)](https://a.storyblok.com/f/298593/x/1329253096/ubtech-walker-s2-sdk-secondary-development-document-external.pdf); [Humanoid Press: Walker S2 (torque curves not released)](https://humanoid.press/database/humanoid-press-walker-s2/) | | Left ankle pitch | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [UBTECH Walker S2 SDK document (42 joint motors, head 4.5 N路m peak)](https://a.storyblok.com/f/298593/x/1329253096/ubtech-walker-s2-sdk-secondary-development-document-external.pdf); [Humanoid Press: Walker S2 (torque curves not released)](https://humanoid.press/database/humanoid-press-walker-s2/) | | Right ankle pitch | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [UBTECH Walker S2 SDK document (42 joint motors, head 4.5 N路m peak)](https://a.storyblok.com/f/298593/x/1329253096/ubtech-walker-s2-sdk-secondary-development-document-external.pdf); [Humanoid Press: Walker S2 (torque curves not released)](https://humanoid.press/database/humanoid-press-walker-s2/) | | Left ankle roll | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [UBTECH Walker S2 SDK document (42 joint motors, head 4.5 N路m peak)](https://a.storyblok.com/f/298593/x/1329253096/ubtech-walker-s2-sdk-secondary-development-document-external.pdf); [Humanoid Press: Walker S2 (torque curves not released)](https://humanoid.press/database/humanoid-press-walker-s2/) | | Right ankle roll | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [UBTECH Walker S2 SDK document (42 joint motors, head 4.5 N路m peak)](https://a.storyblok.com/f/298593/x/1329253096/ubtech-walker-s2-sdk-secondary-development-document-external.pdf); [Humanoid Press: Walker S2 (torque curves not released)](https://humanoid.press/database/humanoid-press-walker-s2/) | | Left shoulder pitch | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [UBTECH Walker S2 SDK document (42 joint motors, head 4.5 N路m peak)](https://a.storyblok.com/f/298593/x/1329253096/ubtech-walker-s2-sdk-secondary-development-document-external.pdf); [Humanoid Press: Walker S2 (torque curves not released)](https://humanoid.press/database/humanoid-press-walker-s2/) | | Right shoulder pitch | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [UBTECH Walker S2 SDK document (42 joint motors, head 4.5 N路m peak)](https://a.storyblok.com/f/298593/x/1329253096/ubtech-walker-s2-sdk-secondary-development-document-external.pdf); [Humanoid Press: Walker S2 (torque curves not released)](https://humanoid.press/database/humanoid-press-walker-s2/) | | Left shoulder roll | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [UBTECH Walker S2 SDK document (42 joint motors, head 4.5 N路m peak)](https://a.storyblok.com/f/298593/x/1329253096/ubtech-walker-s2-sdk-secondary-development-document-external.pdf); [Humanoid Press: Walker S2 (torque curves not released)](https://humanoid.press/database/humanoid-press-walker-s2/) | | Right shoulder roll | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [UBTECH Walker S2 SDK document (42 joint motors, head 4.5 N路m peak)](https://a.storyblok.com/f/298593/x/1329253096/ubtech-walker-s2-sdk-secondary-development-document-external.pdf); [Humanoid Press: Walker S2 (torque curves not released)](https://humanoid.press/database/humanoid-press-walker-s2/) | | Left shoulder yaw | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [UBTECH Walker S2 SDK document (42 joint motors, head 4.5 N路m peak)](https://a.storyblok.com/f/298593/x/1329253096/ubtech-walker-s2-sdk-secondary-development-document-external.pdf); [Humanoid Press: Walker S2 (torque curves not released)](https://humanoid.press/database/humanoid-press-walker-s2/) | | Right shoulder yaw | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [UBTECH Walker S2 SDK document (42 joint motors, head 4.5 N路m peak)](https://a.storyblok.com/f/298593/x/1329253096/ubtech-walker-s2-sdk-secondary-development-document-external.pdf); [Humanoid Press: Walker S2 (torque curves not released)](https://humanoid.press/database/humanoid-press-walker-s2/) | | Left elbow | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [UBTECH Walker S2 SDK document (42 joint motors, head 4.5 N路m peak)](https://a.storyblok.com/f/298593/x/1329253096/ubtech-walker-s2-sdk-secondary-development-document-external.pdf); [Humanoid Press: Walker S2 (torque curves not released)](https://humanoid.press/database/humanoid-press-walker-s2/) | | Right elbow | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [UBTECH Walker S2 SDK document (42 joint motors, head 4.5 N路m peak)](https://a.storyblok.com/f/298593/x/1329253096/ubtech-walker-s2-sdk-secondary-development-document-external.pdf); [Humanoid Press: Walker S2 (torque curves not released)](https://humanoid.press/database/humanoid-press-walker-s2/) | | Waist | 2 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 31.6 to 477.2 | [UBTECH Walker S2 SDK document (42 joint motors, head 4.5 N路m peak)](https://a.storyblok.com/f/298593/x/1329253096/ubtech-walker-s2-sdk-secondary-development-document-external.pdf); [Humanoid Press: Walker S2 (torque curves not released)](https://humanoid.press/database/humanoid-press-walker-s2/) | | Left wrist | 3 | Undisclosed (estimated) | | | 1.18 N路m (25:1, modeled) | 16.2 to 213.9 | [UBTECH Walker S2 SDK document (42 joint motors, head 4.5 N路m peak)](https://a.storyblok.com/f/298593/x/1329253096/ubtech-walker-s2-sdk-secondary-development-document-external.pdf); [Humanoid Press: Walker S2 (torque curves not released)](https://humanoid.press/database/humanoid-press-walker-s2/) | | Right wrist | 3 | Undisclosed (estimated) | | | 1.18 N路m (25:1, modeled) | 16.2 to 213.9 | [UBTECH Walker S2 SDK document (42 joint motors, head 4.5 N路m peak)](https://a.storyblok.com/f/298593/x/1329253096/ubtech-walker-s2-sdk-secondary-development-document-external.pdf); [Humanoid Press: Walker S2 (torque curves not released)](https://humanoid.press/database/humanoid-press-walker-s2/) | | Left hand | 6 | Undisclosed (estimated) | | | 0.24 N路m (25:1, modeled) | 32.4 to 70.2 | [UBTECH Walker S2 SDK document (42 joint motors, head 4.5 N路m peak)](https://a.storyblok.com/f/298593/x/1329253096/ubtech-walker-s2-sdk-secondary-development-document-external.pdf) | | Right hand | 6 | Undisclosed (estimated) | | | 0.24 N路m (25:1, modeled) | 32.4 to 70.2 | [UBTECH Walker S2 SDK document (42 joint motors, head 4.5 N路m peak)](https://a.storyblok.com/f/298593/x/1329253096/ubtech-walker-s2-sdk-secondary-development-document-external.pdf) | ### Rare earth by actuator (estimated) | Design | Count | Nd g | Pr g | Dy g | Tb g | Total g | Metal value US$ | | --- | --- | --- | --- | --- | --- | --- | --- | | Undisclosed, M class | 16 | 210 | 61 | 15 | 4 | 291 (71 to 429) | $47.07 ($10.12 to $84.16) | | Undisclosed, L class | 6 | 79 | 23 | 6 | 2 | 109 (26 to 538) | $17.65 ($3.80 to $105.61) | | Undisclosed, S class | 6 | 33 | 10 | 2 | 1 | 45 (9 to 161) | $7.35 ($1.30 to $31.56) | | Hand (undisclosed) | 12 | 24 | 7 | 2 | 1 | 33 (18 to 53) | $5.41 ($2.59 to $10.36) | | Undisclosed 4.5 N路m | 2 | 4 | 1 | 0 | 0 | 6 (3 to 9) | $0.91 ($0.43 to $1.73) | ### Robot BOM | Group | Part | Count | Unit cost | Subtotal | Share | Source | | --- | --- | --- | --- | --- | --- | --- | | Actuator | Undisclosed, M class | 16 | $221 to $753 (modeled) | $3,535 to $12,052 | 57% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed, L class | 6 | $280 to $956 (modeled) | $1,682 to $5,734 | 27% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed, S class | 6 | $160 to $546 (modeled) | $961 to $3,277 | 16% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | Actuators: $6,178 to $21,063. Non-actuator BOM not published. Actuator mass: 16.9 kg to 34.4 kg, largest share Undisclosed, M class (19%), rest of robot 35.6 kg to 53.1 kg (published weight minus actuators). Magnet: 0.456 kg to 3.164 kg, largest share Undisclosed, M class (60%). Not costed: Undisclosed 4.5 N路m x2 (below the catalog price fit range (7 N路m)); Hand (undisclosed) x12 (micro motor: no defensible unit cost). ## X1 (AgiBot) Open-source full-stack humanoid: 29 body joints from four PowerFlow units (R86-3 x6, R86-2 x9, R52 x10, L28 linear x4). - **Country:** 馃嚚馃嚦 China - **Actuators:** 29 (25 Rotary QDD, 4 Undisclosed) - **DOF:** 34 - **Magnet:** 1.92 to 4.13 kg NdFeB (estimated) - **Rare earths:** 0.54 to 1.55 kg (Nd 0.417 to 1.058, Pr 0.111 to 0.331, Dy 0.007 to 0.124, Tb 0.000 to 0.041) Estimated types rest on: PowerFlow modules described as QDD with planetary reducers under 10:1 (third-party listing) / PowerFlow modules described as QDD with planetary reducers under 10:1 (third-party listing); the guide lists the units but not their joints; 3 spare R86-2 assumed at waist and shoulder pitch, R52 at the other arm joints and neck / L28 linear actuator, screw type not published; the guide lists the units but not their joints; 3 spare R86-2 assumed at waist and shoulder pitch, R52 at the other arm joints and neck. | Joint | Count | Type | Motor | Peak | At motor | Magnet g | Sources | | --- | --- | --- | --- | --- | --- | --- | --- | | Left hip pitch | 1 | Rotary QDD (estimated) | PowerFlow R86-3 | 150 N路m | 17.54 N路m (9:1, modeled) | 144.3 to 238.6 | [AgiBot X1 training URDF (leg joint effort limits)](https://github.com/AgibotTech/agibot_x1_train/blob/main/resources/robots/x1/urdf/x1.urdf); [AgiBot X1 development guide (R86-2 x9, R86-3 x6, R52 x10, L28 x4)](https://www.agibot.com/DOCS/OS); [Leobotics: X1 PowerFlow QDD modules, planetary under 10:1](https://en.leobotics.com/comparateur-robot/robot-humanoide-open-source-full-stack-x1-agibot) | | Right hip pitch | 1 | Rotary QDD (estimated) | PowerFlow R86-3 | 150 N路m | 17.54 N路m (9:1, modeled) | 144.3 to 238.6 | [AgiBot X1 training URDF (leg joint effort limits)](https://github.com/AgibotTech/agibot_x1_train/blob/main/resources/robots/x1/urdf/x1.urdf); [AgiBot X1 development guide (R86-2 x9, R86-3 x6, R52 x10, L28 x4)](https://www.agibot.com/DOCS/OS); [Leobotics: X1 PowerFlow QDD modules, planetary under 10:1](https://en.leobotics.com/comparateur-robot/robot-humanoide-open-source-full-stack-x1-agibot) | | Left hip roll | 1 | Rotary QDD (estimated) | PowerFlow R86-3 | 150 N路m | 17.54 N路m (9:1, modeled) | 144.3 to 238.6 | [AgiBot X1 training URDF (leg joint effort limits)](https://github.com/AgibotTech/agibot_x1_train/blob/main/resources/robots/x1/urdf/x1.urdf); [AgiBot X1 development guide (R86-2 x9, R86-3 x6, R52 x10, L28 x4)](https://www.agibot.com/DOCS/OS); [Leobotics: X1 PowerFlow QDD modules, planetary under 10:1](https://en.leobotics.com/comparateur-robot/robot-humanoide-open-source-full-stack-x1-agibot) | | Right hip roll | 1 | Rotary QDD (estimated) | PowerFlow R86-3 | 150 N路m | 17.54 N路m (9:1, modeled) | 144.3 to 238.6 | [AgiBot X1 training URDF (leg joint effort limits)](https://github.com/AgibotTech/agibot_x1_train/blob/main/resources/robots/x1/urdf/x1.urdf); [AgiBot X1 development guide (R86-2 x9, R86-3 x6, R52 x10, L28 x4)](https://www.agibot.com/DOCS/OS); [Leobotics: X1 PowerFlow QDD modules, planetary under 10:1](https://en.leobotics.com/comparateur-robot/robot-humanoide-open-source-full-stack-x1-agibot) | | Left knee | 1 | Rotary QDD (estimated) | PowerFlow R86-3 | 150 N路m | 17.54 N路m (9:1, modeled) | 144.3 to 238.6 | [AgiBot X1 training URDF (leg joint effort limits)](https://github.com/AgibotTech/agibot_x1_train/blob/main/resources/robots/x1/urdf/x1.urdf); [AgiBot X1 development guide (R86-2 x9, R86-3 x6, R52 x10, L28 x4)](https://www.agibot.com/DOCS/OS); [Leobotics: X1 PowerFlow QDD modules, planetary under 10:1](https://en.leobotics.com/comparateur-robot/robot-humanoide-open-source-full-stack-x1-agibot) | | Right knee | 1 | Rotary QDD (estimated) | PowerFlow R86-3 | 150 N路m | 17.54 N路m (9:1, modeled) | 144.3 to 238.6 | [AgiBot X1 training URDF (leg joint effort limits)](https://github.com/AgibotTech/agibot_x1_train/blob/main/resources/robots/x1/urdf/x1.urdf); [AgiBot X1 development guide (R86-2 x9, R86-3 x6, R52 x10, L28 x4)](https://www.agibot.com/DOCS/OS); [Leobotics: X1 PowerFlow QDD modules, planetary under 10:1](https://en.leobotics.com/comparateur-robot/robot-humanoide-open-source-full-stack-x1-agibot) | | Left hip yaw | 1 | Rotary QDD (estimated) | PowerFlow R86-2 | 50 N路m | 5.85 N路m (9:1, modeled) | 39.6 to 135.7 | [AgiBot X1 training URDF (leg joint effort limits)](https://github.com/AgibotTech/agibot_x1_train/blob/main/resources/robots/x1/urdf/x1.urdf); [AgiBot X1 development guide (R86-2 x9, R86-3 x6, R52 x10, L28 x4)](https://www.agibot.com/DOCS/OS); [Leobotics: X1 PowerFlow QDD modules, planetary under 10:1](https://en.leobotics.com/comparateur-robot/robot-humanoide-open-source-full-stack-x1-agibot) | | Right hip yaw | 1 | Rotary QDD (estimated) | PowerFlow R86-2 | 50 N路m | 5.85 N路m (9:1, modeled) | 39.6 to 135.7 | [AgiBot X1 training URDF (leg joint effort limits)](https://github.com/AgibotTech/agibot_x1_train/blob/main/resources/robots/x1/urdf/x1.urdf); [AgiBot X1 development guide (R86-2 x9, R86-3 x6, R52 x10, L28 x4)](https://www.agibot.com/DOCS/OS); [Leobotics: X1 PowerFlow QDD modules, planetary under 10:1](https://en.leobotics.com/comparateur-robot/robot-humanoide-open-source-full-stack-x1-agibot) | | Left ankle pitch | 1 | Rotary QDD (estimated) | PowerFlow R86-2 | 80 N路m | 9.36 N路m (9:1, modeled) | 79.2 to 238.6 | [AgiBot X1 training URDF (leg joint effort limits)](https://github.com/AgibotTech/agibot_x1_train/blob/main/resources/robots/x1/urdf/x1.urdf); [AgiBot X1 development guide (R86-2 x9, R86-3 x6, R52 x10, L28 x4)](https://www.agibot.com/DOCS/OS); [Leobotics: X1 PowerFlow QDD modules, planetary under 10:1](https://en.leobotics.com/comparateur-robot/robot-humanoide-open-source-full-stack-x1-agibot) | | Right ankle pitch | 1 | Rotary QDD (estimated) | PowerFlow R86-2 | 80 N路m | 9.36 N路m (9:1, modeled) | 79.2 to 238.6 | [AgiBot X1 training URDF (leg joint effort limits)](https://github.com/AgibotTech/agibot_x1_train/blob/main/resources/robots/x1/urdf/x1.urdf); [AgiBot X1 development guide (R86-2 x9, R86-3 x6, R52 x10, L28 x4)](https://www.agibot.com/DOCS/OS); [Leobotics: X1 PowerFlow QDD modules, planetary under 10:1](https://en.leobotics.com/comparateur-robot/robot-humanoide-open-source-full-stack-x1-agibot) | | Left ankle roll | 1 | Rotary QDD (estimated) | PowerFlow R86-2 | 80 N路m | 9.36 N路m (9:1, modeled) | 79.2 to 238.6 | [AgiBot X1 training URDF (leg joint effort limits)](https://github.com/AgibotTech/agibot_x1_train/blob/main/resources/robots/x1/urdf/x1.urdf); [AgiBot X1 development guide (R86-2 x9, R86-3 x6, R52 x10, L28 x4)](https://www.agibot.com/DOCS/OS); [Leobotics: X1 PowerFlow QDD modules, planetary under 10:1](https://en.leobotics.com/comparateur-robot/robot-humanoide-open-source-full-stack-x1-agibot) | | Right ankle roll | 1 | Rotary QDD (estimated) | PowerFlow R86-2 | 80 N路m | 9.36 N路m (9:1, modeled) | 79.2 to 238.6 | [AgiBot X1 training URDF (leg joint effort limits)](https://github.com/AgibotTech/agibot_x1_train/blob/main/resources/robots/x1/urdf/x1.urdf); [AgiBot X1 development guide (R86-2 x9, R86-3 x6, R52 x10, L28 x4)](https://www.agibot.com/DOCS/OS); [Leobotics: X1 PowerFlow QDD modules, planetary under 10:1](https://en.leobotics.com/comparateur-robot/robot-humanoide-open-source-full-stack-x1-agibot) | | Waist | 1 | Rotary QDD (estimated) | PowerFlow R86-2 | 80 N路m (estimated) | 9.36 N路m (9:1, modeled) | 79.2 to 238.6 | [AgiBot X1 development guide (R86-2 x9, R86-3 x6, R52 x10, L28 x4)](https://www.agibot.com/DOCS/OS); [AgiBot X1 product page (R52, L28 specs, 130 cm, 33 kg)](https://agibot.com/products/X1); [Leobotics: X1 PowerFlow QDD modules, planetary under 10:1](https://en.leobotics.com/comparateur-robot/robot-humanoide-open-source-full-stack-x1-agibot) | | Left shoulder pitch | 1 | Rotary QDD (estimated) | PowerFlow R86-2 | 80 N路m (estimated) | 9.36 N路m (9:1, modeled) | 79.2 to 238.6 | [AgiBot X1 development guide (R86-2 x9, R86-3 x6, R52 x10, L28 x4)](https://www.agibot.com/DOCS/OS); [AgiBot X1 product page (R52, L28 specs, 130 cm, 33 kg)](https://agibot.com/products/X1); [Leobotics: X1 PowerFlow QDD modules, planetary under 10:1](https://en.leobotics.com/comparateur-robot/robot-humanoide-open-source-full-stack-x1-agibot) | | Right shoulder pitch | 1 | Rotary QDD (estimated) | PowerFlow R86-2 | 80 N路m (estimated) | 9.36 N路m (9:1, modeled) | 79.2 to 238.6 | [AgiBot X1 development guide (R86-2 x9, R86-3 x6, R52 x10, L28 x4)](https://www.agibot.com/DOCS/OS); [AgiBot X1 product page (R52, L28 specs, 130 cm, 33 kg)](https://agibot.com/products/X1); [Leobotics: X1 PowerFlow QDD modules, planetary under 10:1](https://en.leobotics.com/comparateur-robot/robot-humanoide-open-source-full-stack-x1-agibot) | | Left shoulder roll | 1 | Rotary QDD (estimated) | PowerFlow R52 | 25 N路m (estimated) | 2.92 N路m (9:1, modeled) | 39.6 to 71.3 | [AgiBot X1 development guide (R86-2 x9, R86-3 x6, R52 x10, L28 x4)](https://www.agibot.com/DOCS/OS); [AgiBot X1 product page (R52, L28 specs, 130 cm, 33 kg)](https://agibot.com/products/X1); [Leobotics: X1 PowerFlow QDD modules, planetary under 10:1](https://en.leobotics.com/comparateur-robot/robot-humanoide-open-source-full-stack-x1-agibot) | | Right shoulder roll | 1 | Rotary QDD (estimated) | PowerFlow R52 | 25 N路m (estimated) | 2.92 N路m (9:1, modeled) | 39.6 to 71.3 | [AgiBot X1 development guide (R86-2 x9, R86-3 x6, R52 x10, L28 x4)](https://www.agibot.com/DOCS/OS); [AgiBot X1 product page (R52, L28 specs, 130 cm, 33 kg)](https://agibot.com/products/X1); [Leobotics: X1 PowerFlow QDD modules, planetary under 10:1](https://en.leobotics.com/comparateur-robot/robot-humanoide-open-source-full-stack-x1-agibot) | | Left shoulder yaw | 1 | Rotary QDD (estimated) | PowerFlow R52 | 25 N路m (estimated) | 2.92 N路m (9:1, modeled) | 39.6 to 71.3 | [AgiBot X1 development guide (R86-2 x9, R86-3 x6, R52 x10, L28 x4)](https://www.agibot.com/DOCS/OS); [AgiBot X1 product page (R52, L28 specs, 130 cm, 33 kg)](https://agibot.com/products/X1); [Leobotics: X1 PowerFlow QDD modules, planetary under 10:1](https://en.leobotics.com/comparateur-robot/robot-humanoide-open-source-full-stack-x1-agibot) | | Right shoulder yaw | 1 | Rotary QDD (estimated) | PowerFlow R52 | 25 N路m (estimated) | 2.92 N路m (9:1, modeled) | 39.6 to 71.3 | [AgiBot X1 development guide (R86-2 x9, R86-3 x6, R52 x10, L28 x4)](https://www.agibot.com/DOCS/OS); [AgiBot X1 product page (R52, L28 specs, 130 cm, 33 kg)](https://agibot.com/products/X1); [Leobotics: X1 PowerFlow QDD modules, planetary under 10:1](https://en.leobotics.com/comparateur-robot/robot-humanoide-open-source-full-stack-x1-agibot) | | Left elbow | 1 | Rotary QDD (estimated) | PowerFlow R52 | 25 N路m (estimated) | 2.92 N路m (9:1, modeled) | 39.6 to 71.3 | [AgiBot X1 development guide (R86-2 x9, R86-3 x6, R52 x10, L28 x4)](https://www.agibot.com/DOCS/OS); [AgiBot X1 product page (R52, L28 specs, 130 cm, 33 kg)](https://agibot.com/products/X1); [Leobotics: X1 PowerFlow QDD modules, planetary under 10:1](https://en.leobotics.com/comparateur-robot/robot-humanoide-open-source-full-stack-x1-agibot) | | Right elbow | 1 | Rotary QDD (estimated) | PowerFlow R52 | 25 N路m (estimated) | 2.92 N路m (9:1, modeled) | 39.6 to 71.3 | [AgiBot X1 development guide (R86-2 x9, R86-3 x6, R52 x10, L28 x4)](https://www.agibot.com/DOCS/OS); [AgiBot X1 product page (R52, L28 specs, 130 cm, 33 kg)](https://agibot.com/products/X1); [Leobotics: X1 PowerFlow QDD modules, planetary under 10:1](https://en.leobotics.com/comparateur-robot/robot-humanoide-open-source-full-stack-x1-agibot) | | Left wrist | 1 | Rotary QDD (estimated) | PowerFlow R52 | 25 N路m (estimated) | 2.92 N路m (9:1, modeled) | 39.6 to 71.3 | [AgiBot X1 development guide (R86-2 x9, R86-3 x6, R52 x10, L28 x4)](https://www.agibot.com/DOCS/OS); [AgiBot X1 product page (R52, L28 specs, 130 cm, 33 kg)](https://agibot.com/products/X1); [Leobotics: X1 PowerFlow QDD modules, planetary under 10:1](https://en.leobotics.com/comparateur-robot/robot-humanoide-open-source-full-stack-x1-agibot) | | Right wrist | 1 | Rotary QDD (estimated) | PowerFlow R52 | 25 N路m (estimated) | 2.92 N路m (9:1, modeled) | 39.6 to 71.3 | [AgiBot X1 development guide (R86-2 x9, R86-3 x6, R52 x10, L28 x4)](https://www.agibot.com/DOCS/OS); [AgiBot X1 product page (R52, L28 specs, 130 cm, 33 kg)](https://agibot.com/products/X1); [Leobotics: X1 PowerFlow QDD modules, planetary under 10:1](https://en.leobotics.com/comparateur-robot/robot-humanoide-open-source-full-stack-x1-agibot) | | Neck | 2 | Rotary QDD (estimated) | PowerFlow R52 | 25 N路m (estimated) | 2.92 N路m (9:1, modeled) | 79.2 to 142.6 | [AgiBot X1 development guide (R86-2 x9, R86-3 x6, R52 x10, L28 x4)](https://www.agibot.com/DOCS/OS); [AgiBot X1 product page (R52, L28 specs, 130 cm, 33 kg)](https://agibot.com/products/X1); [Leobotics: X1 PowerFlow QDD modules, planetary under 10:1](https://en.leobotics.com/comparateur-robot/robot-humanoide-open-source-full-stack-x1-agibot) | | Left wrist | 2 | Undisclosed (estimated) | PowerFlow L28 (linear) | 110 N | 0.1 N路m (5 mm lead, modeled) | 10.8 to 23.4 | [AgiBot X1 product page (R52, L28 specs, 130 cm, 33 kg)](https://agibot.com/products/X1); [AgiBot X1 development guide (R86-2 x9, R86-3 x6, R52 x10, L28 x4)](https://www.agibot.com/DOCS/OS) | | Right wrist | 2 | Undisclosed (estimated) | PowerFlow L28 (linear) | 110 N | 0.1 N路m (5 mm lead, modeled) | 10.8 to 23.4 | [AgiBot X1 product page (R52, L28 specs, 130 cm, 33 kg)](https://agibot.com/products/X1); [AgiBot X1 development guide (R86-2 x9, R86-3 x6, R52 x10, L28 x4)](https://www.agibot.com/DOCS/OS) | ### Rare earth by actuator (estimated) | Design | Count | Nd g | Pr g | Dy g | Tb g | Total g | Metal value US$ | | --- | --- | --- | --- | --- | --- | --- | --- | | PowerFlow R86-3 | 6 | 272 | 79 | 19 | 6 | 376 (242 to 538) | $60.90 ($34.67 to $105.61) | | PowerFlow R86-2 路 80 N路m | 7 | 178 | 52 | 13 | 4 | 246 (155 to 628) | $39.89 ($22.20 to $123.21) | | PowerFlow R52 | 10 | 131 | 38 | 9 | 3 | 182 (110 to 268) | $29.42 ($15.86 to $52.60) | | PowerFlow R86-2 路 50 N路m | 2 | 26 | 8 | 2 | 1 | 36 (22 to 102) | $5.88 ($3.17 to $20.02) | | PowerFlow L28 (linear) | 4 | 8 | 2 | 1 | 0 | 11 (6 to 18) | $1.82 ($0.86 to $3.45) | ### Robot BOM | Group | Part | Count | Unit cost | Subtotal | Share | Source | | --- | --- | --- | --- | --- | --- | --- | | Actuator | PowerFlow R86-3 | 6 | $280 to $956 (modeled) | $1,682 to $5,734 | 32% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | PowerFlow R86-2 路 80 N路m | 7 | $230 to $785 (modeled) | $1,612 to $5,497 | 30% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | PowerFlow R52 | 10 | $160 to $546 (modeled) | $1,602 to $5,462 | 30% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | PowerFlow R86-2 路 50 N路m | 2 | $199 to $678 (modeled) | $398 to $1,356 | 8% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | Actuators: $5,294 to $18,050. Non-actuator BOM not published. Actuator mass: 14.0 kg to 28.6 kg, largest share PowerFlow R86-3 (21%), rest of robot 4.4 kg to 19.0 kg (published weight minus actuators). Magnet: 1.917 kg to 4.133 kg, largest share PowerFlow R86-3 (44%). Not costed: PowerFlow L28 (linear) x4 (micro motor: no defensible unit cost). ## GR-1 (Fourier) Fourier's first general-purpose humanoid, on its own FSA actuators; 225 N路m at hip pitch and knee in the published URDF. - **Country:** 馃嚚馃嚦 China - **Actuators:** 44 (44 Undisclosed) - **DOF:** 44 - **Magnet:** 0.49 to 2.51 kg NdFeB (estimated) - **Rare earths:** 0.14 to 0.94 kg (Nd 0.106 to 0.643, Pr 0.028 to 0.201, Dy 0.002 to 0.075, Tb 0.000 to 0.025) Estimated types rest on: Fourier FSA smart actuator modules; the reducer type is not confirmed in the sources found / 6-DOF Fourier hand variant of the URDF; drive not published. | Joint | Count | Type | Motor | Peak | At motor | Magnet g | Sources | | --- | --- | --- | --- | --- | --- | --- | --- | | Left hip pitch | 1 | Undisclosed (estimated) | | 225 N路m | 10.59 N路m (25:1, modeled) | 39.6 to 238.6 | [Fourier GR1T1 URDF (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR1/gr1t1/basic_urdf/gr1t1.urdf); [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Right hip pitch | 1 | Undisclosed (estimated) | | 225 N路m | 10.59 N路m (25:1, modeled) | 39.6 to 238.6 | [Fourier GR1T1 URDF (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR1/gr1t1/basic_urdf/gr1t1.urdf); [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Left knee | 1 | Undisclosed (estimated) | | 225 N路m | 10.59 N路m (25:1, modeled) | 39.6 to 238.6 | [Fourier GR1T1 URDF (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR1/gr1t1/basic_urdf/gr1t1.urdf); [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Right knee | 1 | Undisclosed (estimated) | | 225 N路m | 10.59 N路m (25:1, modeled) | 39.6 to 238.6 | [Fourier GR1T1 URDF (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR1/gr1t1/basic_urdf/gr1t1.urdf); [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Left hip yaw | 1 | Undisclosed (estimated) | | 66 N路m | 3.11 N路m (25:1, modeled) | 15.8 to 71.3 | [Fourier GR1T1 URDF (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR1/gr1t1/basic_urdf/gr1t1.urdf); [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Right hip yaw | 1 | Undisclosed (estimated) | | 66 N路m | 3.11 N路m (25:1, modeled) | 15.8 to 71.3 | [Fourier GR1T1 URDF (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR1/gr1t1/basic_urdf/gr1t1.urdf); [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Left hip roll | 1 | Undisclosed (estimated) | | 48 N路m | 2.26 N路m (25:1, modeled) | 15.8 to 71.3 | [Fourier GR1T1 URDF (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR1/gr1t1/basic_urdf/gr1t1.urdf); [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Right hip roll | 1 | Undisclosed (estimated) | | 48 N路m | 2.26 N路m (25:1, modeled) | 15.8 to 71.3 | [Fourier GR1T1 URDF (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR1/gr1t1/basic_urdf/gr1t1.urdf); [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Left ankle pitch | 1 | Undisclosed (estimated) | | 15 N路m | 0.71 N路m (25:1, modeled) | 5.4 to 30.5 | [Fourier GR1T1 URDF (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR1/gr1t1/basic_urdf/gr1t1.urdf); [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Right ankle pitch | 1 | Undisclosed (estimated) | | 15 N路m | 0.71 N路m (25:1, modeled) | 5.4 to 30.5 | [Fourier GR1T1 URDF (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR1/gr1t1/basic_urdf/gr1t1.urdf); [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Left ankle roll | 1 | Undisclosed (estimated) | | 30 N路m | 1.41 N路m (25:1, modeled) | 5.4 to 71.3 | [Fourier GR1T1 URDF (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR1/gr1t1/basic_urdf/gr1t1.urdf); [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Right ankle roll | 1 | Undisclosed (estimated) | | 30 N路m | 1.41 N路m (25:1, modeled) | 5.4 to 71.3 | [Fourier GR1T1 URDF (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR1/gr1t1/basic_urdf/gr1t1.urdf); [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Waist | 3 | Undisclosed (estimated) | | 66 N路m | 3.11 N路m (25:1, modeled) | 47.4 to 213.9 | [Fourier GR1T1 URDF (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR1/gr1t1/basic_urdf/gr1t1.urdf); [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Left shoulder pitch | 1 | Undisclosed (estimated) | | 38 N路m | 1.79 N路m (25:1, modeled) | 15.8 to 71.3 | [Fourier GR1T1 URDF (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR1/gr1t1/basic_urdf/gr1t1.urdf); [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Right shoulder pitch | 1 | Undisclosed (estimated) | | 38 N路m | 1.79 N路m (25:1, modeled) | 15.8 to 71.3 | [Fourier GR1T1 URDF (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR1/gr1t1/basic_urdf/gr1t1.urdf); [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Left shoulder roll | 1 | Undisclosed (estimated) | | 38 N路m | 1.79 N路m (25:1, modeled) | 15.8 to 71.3 | [Fourier GR1T1 URDF (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR1/gr1t1/basic_urdf/gr1t1.urdf); [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Right shoulder roll | 1 | Undisclosed (estimated) | | 38 N路m | 1.79 N路m (25:1, modeled) | 15.8 to 71.3 | [Fourier GR1T1 URDF (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR1/gr1t1/basic_urdf/gr1t1.urdf); [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Left shoulder yaw | 1 | Undisclosed (estimated) | | 30 N路m | 1.41 N路m (25:1, modeled) | 5.4 to 71.3 | [Fourier GR1T1 URDF (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR1/gr1t1/basic_urdf/gr1t1.urdf); [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Right shoulder yaw | 1 | Undisclosed (estimated) | | 30 N路m | 1.41 N路m (25:1, modeled) | 5.4 to 71.3 | [Fourier GR1T1 URDF (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR1/gr1t1/basic_urdf/gr1t1.urdf); [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Left elbow | 1 | Undisclosed (estimated) | | 30 N路m | 1.41 N路m (25:1, modeled) | 5.4 to 71.3 | [Fourier GR1T1 URDF (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR1/gr1t1/basic_urdf/gr1t1.urdf); [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Right elbow | 1 | Undisclosed (estimated) | | 30 N路m | 1.41 N路m (25:1, modeled) | 5.4 to 71.3 | [Fourier GR1T1 URDF (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR1/gr1t1/basic_urdf/gr1t1.urdf); [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Left wrist | 1 | Undisclosed (estimated) | | 10.2 N路m | 0.48 N路m (25:1, modeled) | 5.4 to 30.5 | [Fourier GR1T1 URDF (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR1/gr1t1/basic_urdf/gr1t1.urdf); [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Right wrist | 1 | Undisclosed (estimated) | | 10.2 N路m | 0.48 N路m (25:1, modeled) | 5.4 to 30.5 | [Fourier GR1T1 URDF (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR1/gr1t1/basic_urdf/gr1t1.urdf); [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Left wrist | 2 | Undisclosed (estimated) | | 3.95 N路m | 0.19 N路m (25:1, modeled) | 10.8 to 23.4 | [Fourier GR1T1 URDF (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR1/gr1t1/basic_urdf/gr1t1.urdf); [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Right wrist | 2 | Undisclosed (estimated) | | 3.95 N路m | 0.19 N路m (25:1, modeled) | 10.8 to 23.4 | [Fourier GR1T1 URDF (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR1/gr1t1/basic_urdf/gr1t1.urdf); [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Neck | 3 | Undisclosed (estimated) | | 3.95 N路m | 0.19 N路m (25:1, modeled) | 16.2 to 35.1 | [Fourier GR1T1 URDF (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR1/gr1t1/basic_urdf/gr1t1.urdf); [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Left hand | 6 | Undisclosed (estimated) | | | 0.24 N路m (25:1, modeled) | 32.4 to 70.2 | [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | | Right hand | 6 | Undisclosed (estimated) | | | 0.24 N路m (25:1, modeled) | 32.4 to 70.2 | [Fourier GRx models README (6-DOF Fourier hand variant)](https://github.com/FFTAI/Wiki-GRx-Models) | ### Rare earth by actuator (estimated) | Design | Count | Nd g | Pr g | Dy g | Tb g | Total g | Metal value US$ | | --- | --- | --- | --- | --- | --- | --- | --- | | Undisclosed 225 N路m | 4 | 102 | 30 | 7 | 2 | 141 (44 to 359) | $22.79 ($6.34 to $70.41) | | Undisclosed 66 N路m | 5 | 66 | 19 | 5 | 1 | 91 (22 to 134) | $14.71 ($3.16 to $26.30) | | Undisclosed 30 N路m | 6 | 33 | 10 | 2 | 1 | 46 (9 to 161) | $7.38 ($1.30 to $31.56) | | Undisclosed 48 N路m | 2 | 26 | 8 | 2 | 1 | 36 (9 to 54) | $5.88 ($1.27 to $10.52) | | Hand (undisclosed) | 12 | 24 | 7 | 2 | 1 | 33 (18 to 53) | $5.41 ($2.59 to $10.36) | | Undisclosed 38 N路m | 4 | 22 | 6 | 2 | 0 | 30 (18 to 107) | $4.92 ($2.53 to $21.04) | | Undisclosed 3.95 N路m | 7 | 14 | 4 | 1 | 0 | 20 (11 to 31) | $3.19 ($1.51 to $6.04) | | Undisclosed 15 N路m | 2 | 11 | 3 | 1 | 0 | 15 (3 to 23) | $2.46 ($0.43 to $4.50) | | Undisclosed 10.2 N路m | 2 | 4 | 1 | 0 | 0 | 6 (3 to 23) | $0.91 ($0.43 to $4.50) | ### Robot BOM | Group | Part | Count | Unit cost | Subtotal | Share | Source | | --- | --- | --- | --- | --- | --- | --- | | Actuator | Undisclosed 225 N路m | 4 | $318 to $1,085 (modeled) | $1,272 to $4,338 | 25% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed 66 N路m | 5 | $217 to $740 (modeled) | $1,085 to $3,698 | 22% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed 30 N路m | 6 | $170 to $578 (modeled) | $1,018 to $3,469 | 20% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed 38 N路m | 4 | $183 to $622 (modeled) | $730 to $2,490 | 15% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed 48 N路m | 2 | $196 to $670 (modeled) | $393 to $1,339 | 8% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed 15 N路m | 2 | $137 to $466 (modeled) | $273 to $931 | 5% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed 10.2 N路m | 2 | $121 to $413 (modeled) | $242 to $826 | 5% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | Actuators: $5,013 to $17,092. Non-actuator BOM not published. Actuator mass: 14.3 kg to 29.0 kg, largest share Undisclosed 225 N路m (10%), rest of robot 26.0 kg to 40.7 kg (published weight minus actuators). Magnet: 0.489 kg to 2.511 kg, largest share Undisclosed 225 N路m (34%). Not costed: Undisclosed 3.95 N路m x7 (below the catalog price fit range (7 N路m)); Hand (undisclosed) x12 (micro motor: no defensible unit cost). ## GR-2 (Fourier) Second-generation Fourier humanoid on FSA 2.0 actuators; the URDF puts hip pitch and knee at 366 N路m. - **Country:** 馃嚚馃嚦 China - **Actuators:** 29 (29 Undisclosed) - **DOF:** 53 - **Magnet:** 0.45 to 2.54 kg NdFeB (estimated) - **Rare earths:** 0.13 to 0.95 kg (Nd 0.098 to 0.650, Pr 0.026 to 0.203, Dy 0.002 to 0.076, Tb 0.000 to 0.025) - **Not counted:** Dexterous hands: actuator count not published. Estimated types rest on: Fourier FSA smart actuator modules; the reducer type is not confirmed in the sources found. | Joint | Count | Type | Motor | Peak | At motor | Magnet g | Sources | | --- | --- | --- | --- | --- | --- | --- | --- | | Left hip pitch | 1 | Undisclosed (estimated) | | 366 N路m | 17.22 N路m (25:1, modeled) | 39.6 to 238.6 | [Fourier GR-2 URDF v3.8.7 (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR2/gr2v3_8_7/basic_urdf/gr2v3_8_7.urdf); [TechNode Global: Fourier GR-2 and FSA 2.0](https://technode.global/?p=86651) | | Right hip pitch | 1 | Undisclosed (estimated) | | 366 N路m | 17.22 N路m (25:1, modeled) | 39.6 to 238.6 | [Fourier GR-2 URDF v3.8.7 (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR2/gr2v3_8_7/basic_urdf/gr2v3_8_7.urdf); [TechNode Global: Fourier GR-2 and FSA 2.0](https://technode.global/?p=86651) | | Left knee | 1 | Undisclosed (estimated) | | 366 N路m | 17.22 N路m (25:1, modeled) | 39.6 to 238.6 | [Fourier GR-2 URDF v3.8.7 (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR2/gr2v3_8_7/basic_urdf/gr2v3_8_7.urdf); [TechNode Global: Fourier GR-2 and FSA 2.0](https://technode.global/?p=86651) | | Right knee | 1 | Undisclosed (estimated) | | 366 N路m | 17.22 N路m (25:1, modeled) | 39.6 to 238.6 | [Fourier GR-2 URDF v3.8.7 (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR2/gr2v3_8_7/basic_urdf/gr2v3_8_7.urdf); [TechNode Global: Fourier GR-2 and FSA 2.0](https://technode.global/?p=86651) | | Left hip roll | 1 | Undisclosed (estimated) | | 95.5 N路m | 4.49 N路m (25:1, modeled) | 15.8 to 135.7 | [Fourier GR-2 URDF v3.8.7 (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR2/gr2v3_8_7/basic_urdf/gr2v3_8_7.urdf); [TechNode Global: Fourier GR-2 and FSA 2.0](https://technode.global/?p=86651) | | Right hip roll | 1 | Undisclosed (estimated) | | 95.5 N路m | 4.49 N路m (25:1, modeled) | 15.8 to 135.7 | [Fourier GR-2 URDF v3.8.7 (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR2/gr2v3_8_7/basic_urdf/gr2v3_8_7.urdf); [TechNode Global: Fourier GR-2 and FSA 2.0](https://technode.global/?p=86651) | | Left hip yaw | 1 | Undisclosed (estimated) | | 54.3 N路m | 2.56 N路m (25:1, modeled) | 15.8 to 71.3 | [Fourier GR-2 URDF v3.8.7 (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR2/gr2v3_8_7/basic_urdf/gr2v3_8_7.urdf); [TechNode Global: Fourier GR-2 and FSA 2.0](https://technode.global/?p=86651) | | Right hip yaw | 1 | Undisclosed (estimated) | | 54.3 N路m | 2.56 N路m (25:1, modeled) | 15.8 to 71.3 | [Fourier GR-2 URDF v3.8.7 (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR2/gr2v3_8_7/basic_urdf/gr2v3_8_7.urdf); [TechNode Global: Fourier GR-2 and FSA 2.0](https://technode.global/?p=86651) | | Left ankle pitch | 1 | Undisclosed (estimated) | | 54.3 N路m | 2.56 N路m (25:1, modeled) | 15.8 to 71.3 | [Fourier GR-2 URDF v3.8.7 (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR2/gr2v3_8_7/basic_urdf/gr2v3_8_7.urdf); [TechNode Global: Fourier GR-2 and FSA 2.0](https://technode.global/?p=86651) | | Right ankle pitch | 1 | Undisclosed (estimated) | | 54.3 N路m | 2.56 N路m (25:1, modeled) | 15.8 to 71.3 | [Fourier GR-2 URDF v3.8.7 (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR2/gr2v3_8_7/basic_urdf/gr2v3_8_7.urdf); [TechNode Global: Fourier GR-2 and FSA 2.0](https://technode.global/?p=86651) | | Left ankle roll | 1 | Undisclosed (estimated) | | 29.8 N路m | 1.4 N路m (25:1, modeled) | 5.4 to 71.3 | [Fourier GR-2 URDF v3.8.7 (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR2/gr2v3_8_7/basic_urdf/gr2v3_8_7.urdf); [TechNode Global: Fourier GR-2 and FSA 2.0](https://technode.global/?p=86651) | | Right ankle roll | 1 | Undisclosed (estimated) | | 29.8 N路m | 1.4 N路m (25:1, modeled) | 5.4 to 71.3 | [Fourier GR-2 URDF v3.8.7 (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR2/gr2v3_8_7/basic_urdf/gr2v3_8_7.urdf); [TechNode Global: Fourier GR-2 and FSA 2.0](https://technode.global/?p=86651) | | Waist | 1 | Undisclosed (estimated) | | 74.5 N路m | 3.51 N路m (25:1, modeled) | 15.8 to 71.3 | [Fourier GR-2 URDF v3.8.7 (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR2/gr2v3_8_7/basic_urdf/gr2v3_8_7.urdf); [TechNode Global: Fourier GR-2 and FSA 2.0](https://technode.global/?p=86651) | | Left shoulder pitch | 1 | Undisclosed (estimated) | | 74.5 N路m | 3.51 N路m (25:1, modeled) | 15.8 to 71.3 | [Fourier GR-2 URDF v3.8.7 (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR2/gr2v3_8_7/basic_urdf/gr2v3_8_7.urdf); [TechNode Global: Fourier GR-2 and FSA 2.0](https://technode.global/?p=86651) | | Right shoulder pitch | 1 | Undisclosed (estimated) | | 74.5 N路m | 3.51 N路m (25:1, modeled) | 15.8 to 71.3 | [Fourier GR-2 URDF v3.8.7 (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR2/gr2v3_8_7/basic_urdf/gr2v3_8_7.urdf); [TechNode Global: Fourier GR-2 and FSA 2.0](https://technode.global/?p=86651) | | Left shoulder roll | 1 | Undisclosed (estimated) | | 74.5 N路m | 3.51 N路m (25:1, modeled) | 15.8 to 71.3 | [Fourier GR-2 URDF v3.8.7 (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR2/gr2v3_8_7/basic_urdf/gr2v3_8_7.urdf); [TechNode Global: Fourier GR-2 and FSA 2.0](https://technode.global/?p=86651) | | Right shoulder roll | 1 | Undisclosed (estimated) | | 74.5 N路m | 3.51 N路m (25:1, modeled) | 15.8 to 71.3 | [Fourier GR-2 URDF v3.8.7 (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR2/gr2v3_8_7/basic_urdf/gr2v3_8_7.urdf); [TechNode Global: Fourier GR-2 and FSA 2.0](https://technode.global/?p=86651) | | Left shoulder yaw | 1 | Undisclosed (estimated) | | 42.8 N路m | 2.01 N路m (25:1, modeled) | 15.8 to 71.3 | [Fourier GR-2 URDF v3.8.7 (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR2/gr2v3_8_7/basic_urdf/gr2v3_8_7.urdf); [TechNode Global: Fourier GR-2 and FSA 2.0](https://technode.global/?p=86651) | | Right shoulder yaw | 1 | Undisclosed (estimated) | | 42.8 N路m | 2.01 N路m (25:1, modeled) | 15.8 to 71.3 | [Fourier GR-2 URDF v3.8.7 (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR2/gr2v3_8_7/basic_urdf/gr2v3_8_7.urdf); [TechNode Global: Fourier GR-2 and FSA 2.0](https://technode.global/?p=86651) | | Left elbow | 1 | Undisclosed (estimated) | | 42.8 N路m | 2.01 N路m (25:1, modeled) | 15.8 to 71.3 | [Fourier GR-2 URDF v3.8.7 (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR2/gr2v3_8_7/basic_urdf/gr2v3_8_7.urdf); [TechNode Global: Fourier GR-2 and FSA 2.0](https://technode.global/?p=86651) | | Right elbow | 1 | Undisclosed (estimated) | | 42.8 N路m | 2.01 N路m (25:1, modeled) | 15.8 to 71.3 | [Fourier GR-2 URDF v3.8.7 (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR2/gr2v3_8_7/basic_urdf/gr2v3_8_7.urdf); [TechNode Global: Fourier GR-2 and FSA 2.0](https://technode.global/?p=86651) | | Left wrist | 3 | Undisclosed (estimated) | | 17.3 N路m | 0.81 N路m (25:1, modeled) | 16.2 to 91.5 | [Fourier GR-2 URDF v3.8.7 (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR2/gr2v3_8_7/basic_urdf/gr2v3_8_7.urdf); [TechNode Global: Fourier GR-2 and FSA 2.0](https://technode.global/?p=86651) | | Right wrist | 3 | Undisclosed (estimated) | | 17.3 N路m | 0.81 N路m (25:1, modeled) | 16.2 to 91.5 | [Fourier GR-2 URDF v3.8.7 (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR2/gr2v3_8_7/basic_urdf/gr2v3_8_7.urdf); [TechNode Global: Fourier GR-2 and FSA 2.0](https://technode.global/?p=86651) | | Neck | 2 | Undisclosed (estimated) | | 17.3 N路m | 0.81 N路m (25:1, modeled) | 10.8 to 61.0 | [Fourier GR-2 URDF v3.8.7 (joint effort limits)](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GRX/GR2/gr2v3_8_7/basic_urdf/gr2v3_8_7.urdf); [TechNode Global: Fourier GR-2 and FSA 2.0](https://technode.global/?p=86651) | ### Rare earth by actuator (estimated) | Design | Count | Nd g | Pr g | Dy g | Tb g | Total g | Metal value US$ | | --- | --- | --- | --- | --- | --- | --- | --- | | Undisclosed 366 N路m | 4 | 181 | 53 | 13 | 4 | 251 (44 to 359) | $40.60 ($6.34 to $70.41) | | Undisclosed 74.5 N路m | 5 | 66 | 19 | 5 | 1 | 91 (22 to 134) | $14.71 ($3.16 to $26.30) | | Undisclosed 54.3 N路m | 4 | 53 | 15 | 4 | 1 | 73 (18 to 107) | $11.77 ($2.53 to $21.04) | | Undisclosed 42.8 N路m | 4 | 53 | 15 | 4 | 1 | 73 (18 to 107) | $11.77 ($2.53 to $21.04) | | Undisclosed 17.3 N路m | 8 | 44 | 13 | 3 | 1 | 61 (12 to 92) | $9.80 ($1.73 to $18.00) | | Undisclosed 95.5 N路m | 2 | 26 | 8 | 2 | 1 | 36 (9 to 102) | $5.88 ($1.27 to $20.02) | | Undisclosed 29.8 N路m | 2 | 11 | 3 | 1 | 0 | 15 (3 to 54) | $2.46 ($0.43 to $10.52) | ### Robot BOM | Group | Part | Count | Unit cost | Subtotal | Share | Source | | --- | --- | --- | --- | --- | --- | --- | | Actuator | Undisclosed 366 N路m | 4 | $370 to $1,262 (modeled) | $1,481 to $5,050 | 24% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed 17.3 N路m | 8 | $143 to $487 (modeled) | $1,143 to $3,895 | 19% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed 74.5 N路m | 5 | $225 to $768 (modeled) | $1,126 to $3,840 | 18% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed 54.3 N路m | 4 | $204 to $696 (modeled) | $816 to $2,783 | 13% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed 42.8 N路m | 4 | $189 to $646 (modeled) | $758 to $2,584 | 12% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed 95.5 N路m | 2 | $243 to $830 (modeled) | $487 to $1,660 | 8% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed 29.8 N路m | 2 | $169 to $577 (modeled) | $338 to $1,154 | 6% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | Actuators: $6,150 to $20,967. Non-actuator BOM not published. Actuator mass: 16.6 kg to 33.7 kg, largest share Undisclosed 366 N路m (11%), rest of robot 29.3 kg to 46.4 kg (published weight minus actuators). Magnet: 0.449 kg to 2.539 kg, largest share Undisclosed 366 N路m (42%). ## Forerunner K2 (Kepler) Industrial humanoid on in-house planetary roller screw linear actuators in the limbs; 15 kg per arm, 11-DOF hands. - **Country:** 馃嚚馃嚦 China - **Actuators:** 27 (10 Roller screw, 17 Undisclosed) - **DOF:** 52 - **Magnet:** 0.46 to 3.31 kg NdFeB (estimated) - **Rare earths:** 0.13 to 1.25 kg (Nd 0.100 to 0.848, Pr 0.027 to 0.265, Dy 0.002 to 0.099, Tb 0.000 to 0.033) - **Not counted:** 11-DOF hands: actuator count not published. Estimated types rest on: Kepler reports planetary roller screw actuators in the arms and legs; which joints is not published, an Optimus-style split is assumed / rotary at waist and shoulders, as on the K1; drive not published / rotating and tilting head module; drive not published. | Joint | Count | Type | Motor | Peak | At motor | Magnet g | Sources | | --- | --- | --- | --- | --- | --- | --- | --- | | Left hip pitch | 1 | Roller screw (estimated) | | | 3.65 N路m (3 mm lead, modeled) | 39.6 to 71.3 | [The Robot Report: Kepler K2 Bumblebee at ICRA 2025](https://www.therobotreport.com/kepler-robotics-showcases-k2-bumblebee-icra-2025/); [Interesting Engineering: Kepler debuts K2 (roller-screw limbs)](https://interestingengineering.com/innovation/kepler-debuts-k2-humanoid-robot) | | Right hip pitch | 1 | Roller screw (estimated) | | | 3.65 N路m (3 mm lead, modeled) | 39.6 to 71.3 | [The Robot Report: Kepler K2 Bumblebee at ICRA 2025](https://www.therobotreport.com/kepler-robotics-showcases-k2-bumblebee-icra-2025/); [Interesting Engineering: Kepler debuts K2 (roller-screw limbs)](https://interestingengineering.com/innovation/kepler-debuts-k2-humanoid-robot) | | Left knee | 1 | Roller screw (estimated) | | | 3.65 N路m (3 mm lead, modeled) | 39.6 to 71.3 | [The Robot Report: Kepler K2 Bumblebee at ICRA 2025](https://www.therobotreport.com/kepler-robotics-showcases-k2-bumblebee-icra-2025/); [Interesting Engineering: Kepler debuts K2 (roller-screw limbs)](https://interestingengineering.com/innovation/kepler-debuts-k2-humanoid-robot) | | Right knee | 1 | Roller screw (estimated) | | | 3.65 N路m (3 mm lead, modeled) | 39.6 to 71.3 | [The Robot Report: Kepler K2 Bumblebee at ICRA 2025](https://www.therobotreport.com/kepler-robotics-showcases-k2-bumblebee-icra-2025/); [Interesting Engineering: Kepler debuts K2 (roller-screw limbs)](https://interestingengineering.com/innovation/kepler-debuts-k2-humanoid-robot) | | Left elbow | 1 | Roller screw (estimated) | | | 1.4 N路m (3 mm lead, modeled) | 15.8 to 71.3 | [The Robot Report: Kepler K2 Bumblebee at ICRA 2025](https://www.therobotreport.com/kepler-robotics-showcases-k2-bumblebee-icra-2025/); [Interesting Engineering: Kepler debuts K2 (roller-screw limbs)](https://interestingengineering.com/innovation/kepler-debuts-k2-humanoid-robot) | | Right elbow | 1 | Roller screw (estimated) | | | 1.4 N路m (3 mm lead, modeled) | 15.8 to 71.3 | [The Robot Report: Kepler K2 Bumblebee at ICRA 2025](https://www.therobotreport.com/kepler-robotics-showcases-k2-bumblebee-icra-2025/); [Interesting Engineering: Kepler debuts K2 (roller-screw limbs)](https://interestingengineering.com/innovation/kepler-debuts-k2-humanoid-robot) | | Left ankle pitch | 1 | Roller screw (estimated) | | | 1.4 N路m (3 mm lead, modeled) | 15.8 to 71.3 | [The Robot Report: Kepler K2 Bumblebee at ICRA 2025](https://www.therobotreport.com/kepler-robotics-showcases-k2-bumblebee-icra-2025/); [Interesting Engineering: Kepler debuts K2 (roller-screw limbs)](https://interestingengineering.com/innovation/kepler-debuts-k2-humanoid-robot) | | Right ankle pitch | 1 | Roller screw (estimated) | | | 1.4 N路m (3 mm lead, modeled) | 15.8 to 71.3 | [The Robot Report: Kepler K2 Bumblebee at ICRA 2025](https://www.therobotreport.com/kepler-robotics-showcases-k2-bumblebee-icra-2025/); [Interesting Engineering: Kepler debuts K2 (roller-screw limbs)](https://interestingengineering.com/innovation/kepler-debuts-k2-humanoid-robot) | | Left ankle roll | 1 | Roller screw (estimated) | | | 1.4 N路m (3 mm lead, modeled) | 15.8 to 71.3 | [The Robot Report: Kepler K2 Bumblebee at ICRA 2025](https://www.therobotreport.com/kepler-robotics-showcases-k2-bumblebee-icra-2025/); [Interesting Engineering: Kepler debuts K2 (roller-screw limbs)](https://interestingengineering.com/innovation/kepler-debuts-k2-humanoid-robot) | | Right ankle roll | 1 | Roller screw (estimated) | | | 1.4 N路m (3 mm lead, modeled) | 15.8 to 71.3 | [The Robot Report: Kepler K2 Bumblebee at ICRA 2025](https://www.therobotreport.com/kepler-robotics-showcases-k2-bumblebee-icra-2025/); [Interesting Engineering: Kepler debuts K2 (roller-screw limbs)](https://interestingengineering.com/innovation/kepler-debuts-k2-humanoid-robot) | | Left shoulder pitch | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [The Robot Report: Kepler K2 Bumblebee at ICRA 2025](https://www.therobotreport.com/kepler-robotics-showcases-k2-bumblebee-icra-2025/); [Interesting Engineering: Kepler debuts K2 (roller-screw limbs)](https://interestingengineering.com/innovation/kepler-debuts-k2-humanoid-robot) | | Right shoulder pitch | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [The Robot Report: Kepler K2 Bumblebee at ICRA 2025](https://www.therobotreport.com/kepler-robotics-showcases-k2-bumblebee-icra-2025/); [Interesting Engineering: Kepler debuts K2 (roller-screw limbs)](https://interestingengineering.com/innovation/kepler-debuts-k2-humanoid-robot) | | Left shoulder roll | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [The Robot Report: Kepler K2 Bumblebee at ICRA 2025](https://www.therobotreport.com/kepler-robotics-showcases-k2-bumblebee-icra-2025/); [Interesting Engineering: Kepler debuts K2 (roller-screw limbs)](https://interestingengineering.com/innovation/kepler-debuts-k2-humanoid-robot) | | Right shoulder roll | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [The Robot Report: Kepler K2 Bumblebee at ICRA 2025](https://www.therobotreport.com/kepler-robotics-showcases-k2-bumblebee-icra-2025/); [Interesting Engineering: Kepler debuts K2 (roller-screw limbs)](https://interestingengineering.com/innovation/kepler-debuts-k2-humanoid-robot) | | Left hip yaw | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [The Robot Report: Kepler K2 Bumblebee at ICRA 2025](https://www.therobotreport.com/kepler-robotics-showcases-k2-bumblebee-icra-2025/); [Interesting Engineering: Kepler debuts K2 (roller-screw limbs)](https://interestingengineering.com/innovation/kepler-debuts-k2-humanoid-robot) | | Right hip yaw | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [The Robot Report: Kepler K2 Bumblebee at ICRA 2025](https://www.therobotreport.com/kepler-robotics-showcases-k2-bumblebee-icra-2025/); [Interesting Engineering: Kepler debuts K2 (roller-screw limbs)](https://interestingengineering.com/innovation/kepler-debuts-k2-humanoid-robot) | | Left hip roll | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [The Robot Report: Kepler K2 Bumblebee at ICRA 2025](https://www.therobotreport.com/kepler-robotics-showcases-k2-bumblebee-icra-2025/); [Interesting Engineering: Kepler debuts K2 (roller-screw limbs)](https://interestingengineering.com/innovation/kepler-debuts-k2-humanoid-robot) | | Right hip roll | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [The Robot Report: Kepler K2 Bumblebee at ICRA 2025](https://www.therobotreport.com/kepler-robotics-showcases-k2-bumblebee-icra-2025/); [Interesting Engineering: Kepler debuts K2 (roller-screw limbs)](https://interestingengineering.com/innovation/kepler-debuts-k2-humanoid-robot) | | Waist | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [The Robot Report: Kepler K2 Bumblebee at ICRA 2025](https://www.therobotreport.com/kepler-robotics-showcases-k2-bumblebee-icra-2025/); [Interesting Engineering: Kepler debuts K2 (roller-screw limbs)](https://interestingengineering.com/innovation/kepler-debuts-k2-humanoid-robot) | | Left shoulder yaw | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [The Robot Report: Kepler K2 Bumblebee at ICRA 2025](https://www.therobotreport.com/kepler-robotics-showcases-k2-bumblebee-icra-2025/); [Interesting Engineering: Kepler debuts K2 (roller-screw limbs)](https://interestingengineering.com/innovation/kepler-debuts-k2-humanoid-robot) | | Right shoulder yaw | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [The Robot Report: Kepler K2 Bumblebee at ICRA 2025](https://www.therobotreport.com/kepler-robotics-showcases-k2-bumblebee-icra-2025/); [Interesting Engineering: Kepler debuts K2 (roller-screw limbs)](https://interestingengineering.com/innovation/kepler-debuts-k2-humanoid-robot) | | Left wrist | 2 | Undisclosed (estimated) | | | 1.18 N路m (25:1, modeled) | 10.8 to 142.6 | [The Robot Report: Kepler K2 Bumblebee at ICRA 2025](https://www.therobotreport.com/kepler-robotics-showcases-k2-bumblebee-icra-2025/); [Interesting Engineering: Kepler debuts K2 (roller-screw limbs)](https://interestingengineering.com/innovation/kepler-debuts-k2-humanoid-robot) | | Right wrist | 2 | Undisclosed (estimated) | | | 1.18 N路m (25:1, modeled) | 10.8 to 142.6 | [The Robot Report: Kepler K2 Bumblebee at ICRA 2025](https://www.therobotreport.com/kepler-robotics-showcases-k2-bumblebee-icra-2025/); [Interesting Engineering: Kepler debuts K2 (roller-screw limbs)](https://interestingengineering.com/innovation/kepler-debuts-k2-humanoid-robot) | | Neck | 2 | Undisclosed (estimated) | | | 0.24 N路m (25:1, modeled) | 10.8 to 23.4 | [The Robot Report: Kepler K2 Bumblebee at ICRA 2025](https://www.therobotreport.com/kepler-robotics-showcases-k2-bumblebee-icra-2025/); [Interesting Engineering: Kepler debuts K2 (roller-screw limbs)](https://interestingengineering.com/innovation/kepler-debuts-k2-humanoid-robot) | ### Rare earth by actuator (estimated) | Design | Count | Nd g | Pr g | Dy g | Tb g | Total g | Metal value US$ | | --- | --- | --- | --- | --- | --- | --- | --- | | Undisclosed, L class | 9 | 118 | 34 | 8 | 2 | 164 (40 to 807) | $26.48 ($5.69 to $158.42) | | Roller screw, L class | 4 | 53 | 15 | 4 | 1 | 73 (44 to 107) | $11.77 ($6.34 to $21.04) | | Roller screw, M class | 6 | 33 | 10 | 2 | 1 | 46 (26 to 161) | $7.38 ($3.80 to $31.56) | | Undisclosed, M class | 2 | 26 | 8 | 2 | 1 | 36 (9 to 54) | $5.88 ($1.27 to $10.52) | | Undisclosed, S class | 4 | 22 | 6 | 2 | 0 | 30 (6 to 107) | $4.90 ($0.86 to $21.04) | | Undisclosed, XS class | 2 | 4 | 1 | 0 | 0 | 6 (3 to 9) | $0.91 ($0.43 to $1.73) | ### Robot BOM | Group | Part | Count | Unit cost | Subtotal | Share | Source | | --- | --- | --- | --- | --- | --- | --- | | Actuator | Undisclosed, L class | 9 | $280 to $956 (modeled) | $2,523 to $8,601 | 42% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Roller screw, M class | 6 | $437 to $1,100 (modeled) | $2,619 to $6,600 | 24% | [Huibo research via Zhihu: Optimus hardware BOM (rotary 57k, linear 44k, hands 20k CNY)](https://zhuanlan.zhihu.com/p/687045590); [XenoSpectrum on Morgan Stanley: Optimus Gen 2 BOM about $55k, actuators 56%, hands $9.5k](https://xenospectrum.com/en/humanoid-robot-bom-actuator-cost/) | | Actuator | Roller screw, L class | 4 | $437 to $1,100 (modeled) | $1,746 to $4,400 | 16% | [Huibo research via Zhihu: Optimus hardware BOM (rotary 57k, linear 44k, hands 20k CNY)](https://zhuanlan.zhihu.com/p/687045590); [XenoSpectrum on Morgan Stanley: Optimus Gen 2 BOM about $55k, actuators 56%, hands $9.5k](https://xenospectrum.com/en/humanoid-robot-bom-actuator-cost/) | | Actuator | Undisclosed, S class | 4 | $160 to $546 (modeled) | $641 to $2,185 | 11% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed, M class | 2 | $221 to $753 (modeled) | $442 to $1,507 | 7% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | Actuators: $7,970 to $23,292. Non-actuator BOM not published. Actuator mass: 10.1 kg to 20.5 kg, largest share Undisclosed, L class (14%), rest of robot 54.5 kg to 64.9 kg (published weight minus actuators). Magnet: 0.459 kg to 3.312 kg, largest share Undisclosed, L class (46%). Not costed: Undisclosed, XS class x2 (micro motor: no defensible unit cost). ## IRON (XPeng) Carmaker's humanoid with 82 DOF, 22-DOF hands and an all-solid-state battery, slated for mass production. - **Country:** 馃嚚馃嚦 China - **Actuators:** 27 (27 Undisclosed) - **DOF:** 82 - **Magnet:** 0.36 to 2.98 kg NdFeB (estimated) - **Rare earths:** 0.10 to 1.12 kg (Nd 0.079 to 0.762, Pr 0.021 to 0.238, Dy 0.001 to 0.089, Tb 0.000 to 0.030) - **Not counted:** 22-DOF hands and spine axes: actuators not published. Estimated types rest on: XPeng describes bionic-muscle style actuators but has not published actuator types. | Joint | Count | Type | Motor | Peak | At motor | Magnet g | Sources | | --- | --- | --- | --- | --- | --- | --- | --- | | Left hip pitch | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [Interesting Engineering: XPeng IRON production](https://interestingengineering.com/ai-robotics/xpeng-iron-humanoid-robot-production); [CleanTechnica: XPeng IRON](https://cleantechnica.com/2025/11/09/is-musk-conceding-ground-and-does-xpengs-iron-signal-chinas-lead-in-the-humanoid-robot-race/) | | Right hip pitch | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [Interesting Engineering: XPeng IRON production](https://interestingengineering.com/ai-robotics/xpeng-iron-humanoid-robot-production); [CleanTechnica: XPeng IRON](https://cleantechnica.com/2025/11/09/is-musk-conceding-ground-and-does-xpengs-iron-signal-chinas-lead-in-the-humanoid-robot-race/) | | Left knee | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [Interesting Engineering: XPeng IRON production](https://interestingengineering.com/ai-robotics/xpeng-iron-humanoid-robot-production); [CleanTechnica: XPeng IRON](https://cleantechnica.com/2025/11/09/is-musk-conceding-ground-and-does-xpengs-iron-signal-chinas-lead-in-the-humanoid-robot-race/) | | Right knee | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [Interesting Engineering: XPeng IRON production](https://interestingengineering.com/ai-robotics/xpeng-iron-humanoid-robot-production); [CleanTechnica: XPeng IRON](https://cleantechnica.com/2025/11/09/is-musk-conceding-ground-and-does-xpengs-iron-signal-chinas-lead-in-the-humanoid-robot-race/) | | Left hip roll | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [Interesting Engineering: XPeng IRON production](https://interestingengineering.com/ai-robotics/xpeng-iron-humanoid-robot-production); [CleanTechnica: XPeng IRON](https://cleantechnica.com/2025/11/09/is-musk-conceding-ground-and-does-xpengs-iron-signal-chinas-lead-in-the-humanoid-robot-race/) | | Right hip roll | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [Interesting Engineering: XPeng IRON production](https://interestingengineering.com/ai-robotics/xpeng-iron-humanoid-robot-production); [CleanTechnica: XPeng IRON](https://cleantechnica.com/2025/11/09/is-musk-conceding-ground-and-does-xpengs-iron-signal-chinas-lead-in-the-humanoid-robot-race/) | | Waist | 1 | Undisclosed (estimated) | | | 7.06 N路m (25:1, modeled) | 15.8 to 238.6 | [Interesting Engineering: XPeng IRON production](https://interestingengineering.com/ai-robotics/xpeng-iron-humanoid-robot-production); [CleanTechnica: XPeng IRON](https://cleantechnica.com/2025/11/09/is-musk-conceding-ground-and-does-xpengs-iron-signal-chinas-lead-in-the-humanoid-robot-race/) | | Left hip yaw | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Interesting Engineering: XPeng IRON production](https://interestingengineering.com/ai-robotics/xpeng-iron-humanoid-robot-production); [CleanTechnica: XPeng IRON](https://cleantechnica.com/2025/11/09/is-musk-conceding-ground-and-does-xpengs-iron-signal-chinas-lead-in-the-humanoid-robot-race/) | | Right hip yaw | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Interesting Engineering: XPeng IRON production](https://interestingengineering.com/ai-robotics/xpeng-iron-humanoid-robot-production); [CleanTechnica: XPeng IRON](https://cleantechnica.com/2025/11/09/is-musk-conceding-ground-and-does-xpengs-iron-signal-chinas-lead-in-the-humanoid-robot-race/) | | Left ankle pitch | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Interesting Engineering: XPeng IRON production](https://interestingengineering.com/ai-robotics/xpeng-iron-humanoid-robot-production); [CleanTechnica: XPeng IRON](https://cleantechnica.com/2025/11/09/is-musk-conceding-ground-and-does-xpengs-iron-signal-chinas-lead-in-the-humanoid-robot-race/) | | Right ankle pitch | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Interesting Engineering: XPeng IRON production](https://interestingengineering.com/ai-robotics/xpeng-iron-humanoid-robot-production); [CleanTechnica: XPeng IRON](https://cleantechnica.com/2025/11/09/is-musk-conceding-ground-and-does-xpengs-iron-signal-chinas-lead-in-the-humanoid-robot-race/) | | Left ankle roll | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Interesting Engineering: XPeng IRON production](https://interestingengineering.com/ai-robotics/xpeng-iron-humanoid-robot-production); [CleanTechnica: XPeng IRON](https://cleantechnica.com/2025/11/09/is-musk-conceding-ground-and-does-xpengs-iron-signal-chinas-lead-in-the-humanoid-robot-race/) | | Right ankle roll | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Interesting Engineering: XPeng IRON production](https://interestingengineering.com/ai-robotics/xpeng-iron-humanoid-robot-production); [CleanTechnica: XPeng IRON](https://cleantechnica.com/2025/11/09/is-musk-conceding-ground-and-does-xpengs-iron-signal-chinas-lead-in-the-humanoid-robot-race/) | | Left shoulder pitch | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Interesting Engineering: XPeng IRON production](https://interestingengineering.com/ai-robotics/xpeng-iron-humanoid-robot-production); [CleanTechnica: XPeng IRON](https://cleantechnica.com/2025/11/09/is-musk-conceding-ground-and-does-xpengs-iron-signal-chinas-lead-in-the-humanoid-robot-race/) | | Right shoulder pitch | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Interesting Engineering: XPeng IRON production](https://interestingengineering.com/ai-robotics/xpeng-iron-humanoid-robot-production); [CleanTechnica: XPeng IRON](https://cleantechnica.com/2025/11/09/is-musk-conceding-ground-and-does-xpengs-iron-signal-chinas-lead-in-the-humanoid-robot-race/) | | Left shoulder roll | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Interesting Engineering: XPeng IRON production](https://interestingengineering.com/ai-robotics/xpeng-iron-humanoid-robot-production); [CleanTechnica: XPeng IRON](https://cleantechnica.com/2025/11/09/is-musk-conceding-ground-and-does-xpengs-iron-signal-chinas-lead-in-the-humanoid-robot-race/) | | Right shoulder roll | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Interesting Engineering: XPeng IRON production](https://interestingengineering.com/ai-robotics/xpeng-iron-humanoid-robot-production); [CleanTechnica: XPeng IRON](https://cleantechnica.com/2025/11/09/is-musk-conceding-ground-and-does-xpengs-iron-signal-chinas-lead-in-the-humanoid-robot-race/) | | Left shoulder yaw | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Interesting Engineering: XPeng IRON production](https://interestingengineering.com/ai-robotics/xpeng-iron-humanoid-robot-production); [CleanTechnica: XPeng IRON](https://cleantechnica.com/2025/11/09/is-musk-conceding-ground-and-does-xpengs-iron-signal-chinas-lead-in-the-humanoid-robot-race/) | | Right shoulder yaw | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Interesting Engineering: XPeng IRON production](https://interestingengineering.com/ai-robotics/xpeng-iron-humanoid-robot-production); [CleanTechnica: XPeng IRON](https://cleantechnica.com/2025/11/09/is-musk-conceding-ground-and-does-xpengs-iron-signal-chinas-lead-in-the-humanoid-robot-race/) | | Left elbow | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Interesting Engineering: XPeng IRON production](https://interestingengineering.com/ai-robotics/xpeng-iron-humanoid-robot-production); [CleanTechnica: XPeng IRON](https://cleantechnica.com/2025/11/09/is-musk-conceding-ground-and-does-xpengs-iron-signal-chinas-lead-in-the-humanoid-robot-race/) | | Right elbow | 1 | Undisclosed (estimated) | | | 3.29 N路m (25:1, modeled) | 15.8 to 71.3 | [Interesting Engineering: XPeng IRON production](https://interestingengineering.com/ai-robotics/xpeng-iron-humanoid-robot-production); [CleanTechnica: XPeng IRON](https://cleantechnica.com/2025/11/09/is-musk-conceding-ground-and-does-xpengs-iron-signal-chinas-lead-in-the-humanoid-robot-race/) | | Left wrist | 2 | Undisclosed (estimated) | | | 1.18 N路m (25:1, modeled) | 10.8 to 142.6 | [Interesting Engineering: XPeng IRON production](https://interestingengineering.com/ai-robotics/xpeng-iron-humanoid-robot-production); [CleanTechnica: XPeng IRON](https://cleantechnica.com/2025/11/09/is-musk-conceding-ground-and-does-xpengs-iron-signal-chinas-lead-in-the-humanoid-robot-race/) | | Right wrist | 2 | Undisclosed (estimated) | | | 1.18 N路m (25:1, modeled) | 10.8 to 142.6 | [Interesting Engineering: XPeng IRON production](https://interestingengineering.com/ai-robotics/xpeng-iron-humanoid-robot-production); [CleanTechnica: XPeng IRON](https://cleantechnica.com/2025/11/09/is-musk-conceding-ground-and-does-xpengs-iron-signal-chinas-lead-in-the-humanoid-robot-race/) | | Neck | 2 | Undisclosed (estimated) | | | 0.24 N路m (25:1, modeled) | 10.8 to 23.4 | [Interesting Engineering: XPeng IRON production](https://interestingengineering.com/ai-robotics/xpeng-iron-humanoid-robot-production); [CleanTechnica: XPeng IRON](https://cleantechnica.com/2025/11/09/is-musk-conceding-ground-and-does-xpengs-iron-signal-chinas-lead-in-the-humanoid-robot-race/) | ### Rare earth by actuator (estimated) | Design | Count | Nd g | Pr g | Dy g | Tb g | Total g | Metal value US$ | | --- | --- | --- | --- | --- | --- | --- | --- | | Undisclosed, M class | 14 | 184 | 54 | 13 | 4 | 254 (62 to 375) | $41.19 ($8.86 to $73.64) | | Undisclosed, L class | 7 | 92 | 27 | 7 | 2 | 127 (31 to 628) | $20.59 ($4.43 to $123.21) | | Undisclosed, S class | 4 | 22 | 6 | 2 | 0 | 30 (6 to 107) | $4.90 ($0.86 to $21.04) | | Undisclosed, XS class | 2 | 4 | 1 | 0 | 0 | 6 (3 to 9) | $0.91 ($0.43 to $1.73) | ### Robot BOM | Group | Part | Count | Unit cost | Subtotal | Share | Source | | --- | --- | --- | --- | --- | --- | --- | | Actuator | Undisclosed, M class | 14 | $221 to $753 (modeled) | $3,093 to $10,546 | 54% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed, L class | 7 | $280 to $956 (modeled) | $1,962 to $6,689 | 34% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | Undisclosed, S class | 4 | $160 to $546 (modeled) | $641 to $2,185 | 11% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | Actuators: $5,696 to $19,420. Non-actuator BOM not published. Actuator mass: 15.5 kg to 31.5 kg, largest share Undisclosed, M class (17%), rest of robot 38.5 kg to 54.5 kg (published weight minus actuators). Magnet: 0.364 kg to 2.977 kg, largest share Undisclosed, M class (61%). Not costed: Undisclosed, XS class x2 (micro motor: no defensible unit cost). ## K-Bot (K-Scale Labs) Open-source 20-DOF humanoid built entirely from four RobStride QDD sizes (6:1 to 10:1 planetary). - **Country:** 馃嚭馃嚫 United States - **Actuators:** 20 (20 Rotary QDD) - **DOF:** 20 - **Magnet:** 1.16 to 2.01 kg NdFeB (estimated) - **Rare earths:** 0.32 to 0.76 kg (Nd 0.253 to 0.516, Pr 0.067 to 0.161, Dy 0.004 to 0.060, Tb 0.000 to 0.020) | Joint | Count | Type | Motor | Peak | At motor | Magnet g | Sources | | --- | --- | --- | --- | --- | --- | --- | --- | | Left hip pitch | 1 | Rotary QDD | [RobStride 04](/actuators/robstride-04) | 120 N路m | 14.04 N路m (9:1) | 144.3 to 238.6 | [K-Scale docs: K-Bot mechanical system (RS00 x2, RS02 x6, RS03 x8, RS04 x4)](https://docs.kscale.dev/robots/k-bot/mechanical/); [DeepWiki: kbot-v2 motor to joint mapping](https://deepwiki.com/kscalelabs/kscale-assets/2.1-kbot-v2-humanoid-robot) | | Right hip pitch | 1 | Rotary QDD | [RobStride 04](/actuators/robstride-04) | 120 N路m | 14.04 N路m (9:1) | 144.3 to 238.6 | [K-Scale docs: K-Bot mechanical system (RS00 x2, RS02 x6, RS03 x8, RS04 x4)](https://docs.kscale.dev/robots/k-bot/mechanical/); [DeepWiki: kbot-v2 motor to joint mapping](https://deepwiki.com/kscalelabs/kscale-assets/2.1-kbot-v2-humanoid-robot) | | Left knee | 1 | Rotary QDD | [RobStride 04](/actuators/robstride-04) | 120 N路m | 14.04 N路m (9:1) | 144.3 to 238.6 | [K-Scale docs: K-Bot mechanical system (RS00 x2, RS02 x6, RS03 x8, RS04 x4)](https://docs.kscale.dev/robots/k-bot/mechanical/); [DeepWiki: kbot-v2 motor to joint mapping](https://deepwiki.com/kscalelabs/kscale-assets/2.1-kbot-v2-humanoid-robot) | | Right knee | 1 | Rotary QDD | [RobStride 04](/actuators/robstride-04) | 120 N路m | 14.04 N路m (9:1) | 144.3 to 238.6 | [K-Scale docs: K-Bot mechanical system (RS00 x2, RS02 x6, RS03 x8, RS04 x4)](https://docs.kscale.dev/robots/k-bot/mechanical/); [DeepWiki: kbot-v2 motor to joint mapping](https://deepwiki.com/kscalelabs/kscale-assets/2.1-kbot-v2-humanoid-robot) | | Left shoulder pitch | 1 | Rotary QDD | [RobStride 03](/actuators/robstride-03) | 60 N路m | 7.02 N路m (9:1) | 39.6 to 71.3 | [K-Scale docs: K-Bot mechanical system (RS00 x2, RS02 x6, RS03 x8, RS04 x4)](https://docs.kscale.dev/robots/k-bot/mechanical/); [DeepWiki: kbot-v2 motor to joint mapping](https://deepwiki.com/kscalelabs/kscale-assets/2.1-kbot-v2-humanoid-robot) | | Right shoulder pitch | 1 | Rotary QDD | [RobStride 03](/actuators/robstride-03) | 60 N路m | 7.02 N路m (9:1) | 39.6 to 71.3 | [K-Scale docs: K-Bot mechanical system (RS00 x2, RS02 x6, RS03 x8, RS04 x4)](https://docs.kscale.dev/robots/k-bot/mechanical/); [DeepWiki: kbot-v2 motor to joint mapping](https://deepwiki.com/kscalelabs/kscale-assets/2.1-kbot-v2-humanoid-robot) | | Left shoulder roll | 1 | Rotary QDD | [RobStride 03](/actuators/robstride-03) | 60 N路m | 7.02 N路m (9:1) | 39.6 to 71.3 | [K-Scale docs: K-Bot mechanical system (RS00 x2, RS02 x6, RS03 x8, RS04 x4)](https://docs.kscale.dev/robots/k-bot/mechanical/); [DeepWiki: kbot-v2 motor to joint mapping](https://deepwiki.com/kscalelabs/kscale-assets/2.1-kbot-v2-humanoid-robot) | | Right shoulder roll | 1 | Rotary QDD | [RobStride 03](/actuators/robstride-03) | 60 N路m | 7.02 N路m (9:1) | 39.6 to 71.3 | [K-Scale docs: K-Bot mechanical system (RS00 x2, RS02 x6, RS03 x8, RS04 x4)](https://docs.kscale.dev/robots/k-bot/mechanical/); [DeepWiki: kbot-v2 motor to joint mapping](https://deepwiki.com/kscalelabs/kscale-assets/2.1-kbot-v2-humanoid-robot) | | Left hip roll | 1 | Rotary QDD | [RobStride 03](/actuators/robstride-03) | 60 N路m | 7.02 N路m (9:1) | 39.6 to 71.3 | [K-Scale docs: K-Bot mechanical system (RS00 x2, RS02 x6, RS03 x8, RS04 x4)](https://docs.kscale.dev/robots/k-bot/mechanical/); [DeepWiki: kbot-v2 motor to joint mapping](https://deepwiki.com/kscalelabs/kscale-assets/2.1-kbot-v2-humanoid-robot) | | Right hip roll | 1 | Rotary QDD | [RobStride 03](/actuators/robstride-03) | 60 N路m | 7.02 N路m (9:1) | 39.6 to 71.3 | [K-Scale docs: K-Bot mechanical system (RS00 x2, RS02 x6, RS03 x8, RS04 x4)](https://docs.kscale.dev/robots/k-bot/mechanical/); [DeepWiki: kbot-v2 motor to joint mapping](https://deepwiki.com/kscalelabs/kscale-assets/2.1-kbot-v2-humanoid-robot) | | Left hip yaw | 1 | Rotary QDD | [RobStride 03](/actuators/robstride-03) | 60 N路m | 7.02 N路m (9:1) | 39.6 to 71.3 | [K-Scale docs: K-Bot mechanical system (RS00 x2, RS02 x6, RS03 x8, RS04 x4)](https://docs.kscale.dev/robots/k-bot/mechanical/); [DeepWiki: kbot-v2 motor to joint mapping](https://deepwiki.com/kscalelabs/kscale-assets/2.1-kbot-v2-humanoid-robot) | | Right hip yaw | 1 | Rotary QDD | [RobStride 03](/actuators/robstride-03) | 60 N路m | 7.02 N路m (9:1) | 39.6 to 71.3 | [K-Scale docs: K-Bot mechanical system (RS00 x2, RS02 x6, RS03 x8, RS04 x4)](https://docs.kscale.dev/robots/k-bot/mechanical/); [DeepWiki: kbot-v2 motor to joint mapping](https://deepwiki.com/kscalelabs/kscale-assets/2.1-kbot-v2-humanoid-robot) | | Left shoulder yaw | 1 | Rotary QDD | [RobStride 02](/actuators/robstride-02) | 17 N路m | 2.31 N路m (7.75:1) | 39.6 to 71.3 | [K-Scale docs: K-Bot mechanical system (RS00 x2, RS02 x6, RS03 x8, RS04 x4)](https://docs.kscale.dev/robots/k-bot/mechanical/); [DeepWiki: kbot-v2 motor to joint mapping](https://deepwiki.com/kscalelabs/kscale-assets/2.1-kbot-v2-humanoid-robot) | | Right shoulder yaw | 1 | Rotary QDD | [RobStride 02](/actuators/robstride-02) | 17 N路m | 2.31 N路m (7.75:1) | 39.6 to 71.3 | [K-Scale docs: K-Bot mechanical system (RS00 x2, RS02 x6, RS03 x8, RS04 x4)](https://docs.kscale.dev/robots/k-bot/mechanical/); [DeepWiki: kbot-v2 motor to joint mapping](https://deepwiki.com/kscalelabs/kscale-assets/2.1-kbot-v2-humanoid-robot) | | Left elbow | 1 | Rotary QDD | [RobStride 02](/actuators/robstride-02) | 17 N路m | 2.31 N路m (7.75:1) | 39.6 to 71.3 | [K-Scale docs: K-Bot mechanical system (RS00 x2, RS02 x6, RS03 x8, RS04 x4)](https://docs.kscale.dev/robots/k-bot/mechanical/); [DeepWiki: kbot-v2 motor to joint mapping](https://deepwiki.com/kscalelabs/kscale-assets/2.1-kbot-v2-humanoid-robot) | | Right elbow | 1 | Rotary QDD | [RobStride 02](/actuators/robstride-02) | 17 N路m | 2.31 N路m (7.75:1) | 39.6 to 71.3 | [K-Scale docs: K-Bot mechanical system (RS00 x2, RS02 x6, RS03 x8, RS04 x4)](https://docs.kscale.dev/robots/k-bot/mechanical/); [DeepWiki: kbot-v2 motor to joint mapping](https://deepwiki.com/kscalelabs/kscale-assets/2.1-kbot-v2-humanoid-robot) | | Left ankle pitch | 1 | Rotary QDD | [RobStride 02](/actuators/robstride-02) | 17 N路m | 2.31 N路m (7.75:1) | 39.6 to 71.3 | [K-Scale docs: K-Bot mechanical system (RS00 x2, RS02 x6, RS03 x8, RS04 x4)](https://docs.kscale.dev/robots/k-bot/mechanical/); [DeepWiki: kbot-v2 motor to joint mapping](https://deepwiki.com/kscalelabs/kscale-assets/2.1-kbot-v2-humanoid-robot) | | Right ankle pitch | 1 | Rotary QDD | [RobStride 02](/actuators/robstride-02) | 17 N路m | 2.31 N路m (7.75:1) | 39.6 to 71.3 | [K-Scale docs: K-Bot mechanical system (RS00 x2, RS02 x6, RS03 x8, RS04 x4)](https://docs.kscale.dev/robots/k-bot/mechanical/); [DeepWiki: kbot-v2 motor to joint mapping](https://deepwiki.com/kscalelabs/kscale-assets/2.1-kbot-v2-humanoid-robot) | | Left wrist | 1 | Rotary QDD | [RobStride 00](/actuators/robstride-00) | 14 N路m | 1.47 N路m (10:1) | 15.8 to 30.5 | [K-Scale docs: K-Bot mechanical system (RS00 x2, RS02 x6, RS03 x8, RS04 x4)](https://docs.kscale.dev/robots/k-bot/mechanical/); [DeepWiki: kbot-v2 motor to joint mapping](https://deepwiki.com/kscalelabs/kscale-assets/2.1-kbot-v2-humanoid-robot) | | Right wrist | 1 | Rotary QDD | [RobStride 00](/actuators/robstride-00) | 14 N路m | 1.47 N路m (10:1) | 15.8 to 30.5 | [K-Scale docs: K-Bot mechanical system (RS00 x2, RS02 x6, RS03 x8, RS04 x4)](https://docs.kscale.dev/robots/k-bot/mechanical/); [DeepWiki: kbot-v2 motor to joint mapping](https://deepwiki.com/kscalelabs/kscale-assets/2.1-kbot-v2-humanoid-robot) | ### Rare earth by actuator (estimated) | Design | Count | Nd g | Pr g | Dy g | Tb g | Total g | Metal value US$ | | --- | --- | --- | --- | --- | --- | --- | --- | | RobStride 04 | 4 | 181 | 53 | 13 | 4 | 251 (161 to 359) | $40.60 ($23.11 to $70.41) | | RobStride 03 | 8 | 105 | 31 | 7 | 2 | 145 (88 to 214) | $23.53 ($12.68 to $42.08) | | RobStride 02 | 6 | 79 | 23 | 6 | 2 | 109 (66 to 161) | $17.65 ($9.51 to $31.56) | | RobStride 00 | 2 | 11 | 3 | 1 | 0 | 15 (9 to 23) | $2.46 ($1.27 to $4.50) | ### Robot BOM | Group | Part | Count | Unit cost | Subtotal | Share | Source | | --- | --- | --- | --- | --- | --- | --- | | Actuator | RobStride 03 | 8 | $250 (reported) | $2,000 | 47% | [actuatorlist catalog: robstride-03](https://actuatorlist.com/actuators/robstride-03) | | Actuator | RobStride 04 | 4 | $255 (reported) | $1,020 | 24% | [actuatorlist catalog: robstride-04](https://actuatorlist.com/actuators/robstride-04) | | Actuator | RobStride 02 | 6 | $161 (reported) | $966 | 23% | [actuatorlist catalog: robstride-02](https://actuatorlist.com/actuators/robstride-02) | | Actuator | RobStride 00 | 2 | $125 (reported) | $250 | 6% | [actuatorlist catalog: robstride-00](https://actuatorlist.com/actuators/robstride-00) | Actuators: $4,236. Non-actuator BOM not published. Actuator mass: 15.6 kg to 15.6 kg, largest share RobStride 03 (21%), rest of robot 18.4 kg to 18.4 kg (published weight minus actuators). Magnet: 1.163 kg to 2.014 kg, largest share RobStride 04 (48%). ## Berkeley Humanoid Lite (UC Berkeley Hybrid Robotics) Open-source, sub-$5,000 research humanoid. Every joint is a drone-class BLDC behind a 3D-printed cycloidal gearbox, in two sizes. - **Country:** 馃嚭馃嚫 United States - **Actuators:** 22 (22 Cycloidal) - **DOF:** 22 - **Magnet:** 0.35 to 0.67 kg NdFeB (estimated) - **Rare earths:** 0.10 to 0.25 kg (Nd 0.076 to 0.172, Pr 0.020 to 0.054, Dy 0.001 to 0.020, Tb 0.000 to 0.007) | Joint | Count | Type | Motor | Peak | At motor | Magnet g | Sources | | --- | --- | --- | --- | --- | --- | --- | --- | | Left hip yaw | 1 | Cycloidal | 6512 BLDC | 20 N路m | 1.53 N路m (15:1, estimated) | 15.8 to 30.5 | [Berkeley Humanoid Lite URDF (22 joints)](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite-Assets); [arXiv 2504.17249: Demonstrating Berkeley Humanoid Lite](https://arxiv.org/abs/2504.17249); [Orobot: Berkeley Humanoid Lite BOM (6512 and 5010 actuators)](https://orobot.io/o/program/BROKER-2/berkeley-humanoid-lite) | | Right hip yaw | 1 | Cycloidal | 6512 BLDC | 20 N路m | 1.53 N路m (15:1, estimated) | 15.8 to 30.5 | [Berkeley Humanoid Lite URDF (22 joints)](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite-Assets); [arXiv 2504.17249: Demonstrating Berkeley Humanoid Lite](https://arxiv.org/abs/2504.17249); [Orobot: Berkeley Humanoid Lite BOM (6512 and 5010 actuators)](https://orobot.io/o/program/BROKER-2/berkeley-humanoid-lite) | | Left hip roll | 1 | Cycloidal | 6512 BLDC | 20 N路m | 1.53 N路m (15:1, estimated) | 15.8 to 30.5 | [Berkeley Humanoid Lite URDF (22 joints)](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite-Assets); [arXiv 2504.17249: Demonstrating Berkeley Humanoid Lite](https://arxiv.org/abs/2504.17249); [Orobot: Berkeley Humanoid Lite BOM (6512 and 5010 actuators)](https://orobot.io/o/program/BROKER-2/berkeley-humanoid-lite) | | Right hip roll | 1 | Cycloidal | 6512 BLDC | 20 N路m | 1.53 N路m (15:1, estimated) | 15.8 to 30.5 | [Berkeley Humanoid Lite URDF (22 joints)](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite-Assets); [arXiv 2504.17249: Demonstrating Berkeley Humanoid Lite](https://arxiv.org/abs/2504.17249); [Orobot: Berkeley Humanoid Lite BOM (6512 and 5010 actuators)](https://orobot.io/o/program/BROKER-2/berkeley-humanoid-lite) | | Left hip pitch | 1 | Cycloidal | 6512 BLDC | 20 N路m | 1.53 N路m (15:1, estimated) | 15.8 to 30.5 | [Berkeley Humanoid Lite URDF (22 joints)](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite-Assets); [arXiv 2504.17249: Demonstrating Berkeley Humanoid Lite](https://arxiv.org/abs/2504.17249); [Orobot: Berkeley Humanoid Lite BOM (6512 and 5010 actuators)](https://orobot.io/o/program/BROKER-2/berkeley-humanoid-lite) | | Right hip pitch | 1 | Cycloidal | 6512 BLDC | 20 N路m | 1.53 N路m (15:1, estimated) | 15.8 to 30.5 | [Berkeley Humanoid Lite URDF (22 joints)](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite-Assets); [arXiv 2504.17249: Demonstrating Berkeley Humanoid Lite](https://arxiv.org/abs/2504.17249); [Orobot: Berkeley Humanoid Lite BOM (6512 and 5010 actuators)](https://orobot.io/o/program/BROKER-2/berkeley-humanoid-lite) | | Left knee | 1 | Cycloidal | 6512 BLDC | 20 N路m | 1.53 N路m (15:1, estimated) | 15.8 to 30.5 | [Berkeley Humanoid Lite URDF (22 joints)](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite-Assets); [arXiv 2504.17249: Demonstrating Berkeley Humanoid Lite](https://arxiv.org/abs/2504.17249); [Orobot: Berkeley Humanoid Lite BOM (6512 and 5010 actuators)](https://orobot.io/o/program/BROKER-2/berkeley-humanoid-lite) | | Right knee | 1 | Cycloidal | 6512 BLDC | 20 N路m | 1.53 N路m (15:1, estimated) | 15.8 to 30.5 | [Berkeley Humanoid Lite URDF (22 joints)](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite-Assets); [arXiv 2504.17249: Demonstrating Berkeley Humanoid Lite](https://arxiv.org/abs/2504.17249); [Orobot: Berkeley Humanoid Lite BOM (6512 and 5010 actuators)](https://orobot.io/o/program/BROKER-2/berkeley-humanoid-lite) | | Left ankle pitch | 1 | Cycloidal | 6512 BLDC | 20 N路m | 1.53 N路m (15:1, estimated) | 15.8 to 30.5 | [Berkeley Humanoid Lite URDF (22 joints)](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite-Assets); [arXiv 2504.17249: Demonstrating Berkeley Humanoid Lite](https://arxiv.org/abs/2504.17249); [Orobot: Berkeley Humanoid Lite BOM (6512 and 5010 actuators)](https://orobot.io/o/program/BROKER-2/berkeley-humanoid-lite) | | Right ankle pitch | 1 | Cycloidal | 6512 BLDC | 20 N路m | 1.53 N路m (15:1, estimated) | 15.8 to 30.5 | [Berkeley Humanoid Lite URDF (22 joints)](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite-Assets); [arXiv 2504.17249: Demonstrating Berkeley Humanoid Lite](https://arxiv.org/abs/2504.17249); [Orobot: Berkeley Humanoid Lite BOM (6512 and 5010 actuators)](https://orobot.io/o/program/BROKER-2/berkeley-humanoid-lite) | | Left ankle roll | 1 | Cycloidal | 6512 BLDC | 20 N路m | 1.53 N路m (15:1, estimated) | 15.8 to 30.5 | [Berkeley Humanoid Lite URDF (22 joints)](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite-Assets); [arXiv 2504.17249: Demonstrating Berkeley Humanoid Lite](https://arxiv.org/abs/2504.17249); [Orobot: Berkeley Humanoid Lite BOM (6512 and 5010 actuators)](https://orobot.io/o/program/BROKER-2/berkeley-humanoid-lite) | | Right ankle roll | 1 | Cycloidal | 6512 BLDC | 20 N路m | 1.53 N路m (15:1, estimated) | 15.8 to 30.5 | [Berkeley Humanoid Lite URDF (22 joints)](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite-Assets); [arXiv 2504.17249: Demonstrating Berkeley Humanoid Lite](https://arxiv.org/abs/2504.17249); [Orobot: Berkeley Humanoid Lite BOM (6512 and 5010 actuators)](https://orobot.io/o/program/BROKER-2/berkeley-humanoid-lite) | | Left shoulder pitch | 1 | Cycloidal | 5010 BLDC | 20 N路m | 1.53 N路m (15:1) | 15.8 to 30.5 | [Berkeley Humanoid Lite URDF (22 joints)](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite-Assets); [arXiv 2504.17249: Demonstrating Berkeley Humanoid Lite](https://arxiv.org/abs/2504.17249); [Orobot: Berkeley Humanoid Lite BOM (6512 and 5010 actuators)](https://orobot.io/o/program/BROKER-2/berkeley-humanoid-lite); [Humanoid.guide: actuator commonality, Optimus to Berkeley Humanoid Lite](https://humanoid.guide/humanoid-actuator-commonality/) | | Right shoulder pitch | 1 | Cycloidal | 5010 BLDC | 20 N路m | 1.53 N路m (15:1) | 15.8 to 30.5 | [Berkeley Humanoid Lite URDF (22 joints)](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite-Assets); [arXiv 2504.17249: Demonstrating Berkeley Humanoid Lite](https://arxiv.org/abs/2504.17249); [Orobot: Berkeley Humanoid Lite BOM (6512 and 5010 actuators)](https://orobot.io/o/program/BROKER-2/berkeley-humanoid-lite); [Humanoid.guide: actuator commonality, Optimus to Berkeley Humanoid Lite](https://humanoid.guide/humanoid-actuator-commonality/) | | Left shoulder roll | 1 | Cycloidal | 5010 BLDC | 20 N路m | 1.53 N路m (15:1) | 15.8 to 30.5 | [Berkeley Humanoid Lite URDF (22 joints)](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite-Assets); [arXiv 2504.17249: Demonstrating Berkeley Humanoid Lite](https://arxiv.org/abs/2504.17249); [Orobot: Berkeley Humanoid Lite BOM (6512 and 5010 actuators)](https://orobot.io/o/program/BROKER-2/berkeley-humanoid-lite); [Humanoid.guide: actuator commonality, Optimus to Berkeley Humanoid Lite](https://humanoid.guide/humanoid-actuator-commonality/) | | Right shoulder roll | 1 | Cycloidal | 5010 BLDC | 20 N路m | 1.53 N路m (15:1) | 15.8 to 30.5 | [Berkeley Humanoid Lite URDF (22 joints)](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite-Assets); [arXiv 2504.17249: Demonstrating Berkeley Humanoid Lite](https://arxiv.org/abs/2504.17249); [Orobot: Berkeley Humanoid Lite BOM (6512 and 5010 actuators)](https://orobot.io/o/program/BROKER-2/berkeley-humanoid-lite); [Humanoid.guide: actuator commonality, Optimus to Berkeley Humanoid Lite](https://humanoid.guide/humanoid-actuator-commonality/) | | Left shoulder yaw | 1 | Cycloidal | 5010 BLDC | 20 N路m | 1.53 N路m (15:1) | 15.8 to 30.5 | [Berkeley Humanoid Lite URDF (22 joints)](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite-Assets); [arXiv 2504.17249: Demonstrating Berkeley Humanoid Lite](https://arxiv.org/abs/2504.17249); [Orobot: Berkeley Humanoid Lite BOM (6512 and 5010 actuators)](https://orobot.io/o/program/BROKER-2/berkeley-humanoid-lite); [Humanoid.guide: actuator commonality, Optimus to Berkeley Humanoid Lite](https://humanoid.guide/humanoid-actuator-commonality/) | | Right shoulder yaw | 1 | Cycloidal | 5010 BLDC | 20 N路m | 1.53 N路m (15:1) | 15.8 to 30.5 | [Berkeley Humanoid Lite URDF (22 joints)](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite-Assets); [arXiv 2504.17249: Demonstrating Berkeley Humanoid Lite](https://arxiv.org/abs/2504.17249); [Orobot: Berkeley Humanoid Lite BOM (6512 and 5010 actuators)](https://orobot.io/o/program/BROKER-2/berkeley-humanoid-lite); [Humanoid.guide: actuator commonality, Optimus to Berkeley Humanoid Lite](https://humanoid.guide/humanoid-actuator-commonality/) | | Left elbow | 1 | Cycloidal | 5010 BLDC | 20 N路m | 1.53 N路m (15:1) | 15.8 to 30.5 | [Berkeley Humanoid Lite URDF (22 joints)](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite-Assets); [arXiv 2504.17249: Demonstrating Berkeley Humanoid Lite](https://arxiv.org/abs/2504.17249); [Orobot: Berkeley Humanoid Lite BOM (6512 and 5010 actuators)](https://orobot.io/o/program/BROKER-2/berkeley-humanoid-lite); [Humanoid.guide: actuator commonality, Optimus to Berkeley Humanoid Lite](https://humanoid.guide/humanoid-actuator-commonality/) | | Right elbow | 1 | Cycloidal | 5010 BLDC | 20 N路m | 1.53 N路m (15:1) | 15.8 to 30.5 | [Berkeley Humanoid Lite URDF (22 joints)](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite-Assets); [arXiv 2504.17249: Demonstrating Berkeley Humanoid Lite](https://arxiv.org/abs/2504.17249); [Orobot: Berkeley Humanoid Lite BOM (6512 and 5010 actuators)](https://orobot.io/o/program/BROKER-2/berkeley-humanoid-lite); [Humanoid.guide: actuator commonality, Optimus to Berkeley Humanoid Lite](https://humanoid.guide/humanoid-actuator-commonality/) | | Left wrist | 1 | Cycloidal | 5010 BLDC | 20 N路m | 1.53 N路m (15:1) | 15.8 to 30.5 | [Berkeley Humanoid Lite URDF (22 joints)](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite-Assets); [arXiv 2504.17249: Demonstrating Berkeley Humanoid Lite](https://arxiv.org/abs/2504.17249); [Orobot: Berkeley Humanoid Lite BOM (6512 and 5010 actuators)](https://orobot.io/o/program/BROKER-2/berkeley-humanoid-lite); [Humanoid.guide: actuator commonality, Optimus to Berkeley Humanoid Lite](https://humanoid.guide/humanoid-actuator-commonality/) | | Right wrist | 1 | Cycloidal | 5010 BLDC | 20 N路m | 1.53 N路m (15:1) | 15.8 to 30.5 | [Berkeley Humanoid Lite URDF (22 joints)](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite-Assets); [arXiv 2504.17249: Demonstrating Berkeley Humanoid Lite](https://arxiv.org/abs/2504.17249); [Orobot: Berkeley Humanoid Lite BOM (6512 and 5010 actuators)](https://orobot.io/o/program/BROKER-2/berkeley-humanoid-lite); [Humanoid.guide: actuator commonality, Optimus to Berkeley Humanoid Lite](https://humanoid.guide/humanoid-actuator-commonality/) | ### Rare earth by actuator (estimated) | Design | Count | Nd g | Pr g | Dy g | Tb g | Total g | Metal value US$ | | --- | --- | --- | --- | --- | --- | --- | --- | | 6512 BLDC | 12 | 66 | 19 | 5 | 1 | 91 (53 to 138) | $14.76 ($7.59 to $27.00) | | 5010 BLDC | 10 | 55 | 16 | 4 | 1 | 76 (44 to 115) | $12.30 ($6.33 to $22.50) | ### Robot BOM | Group | Part | Count | Unit cost | Subtotal | Share | Source | | --- | --- | --- | --- | --- | --- | --- | | Actuator | 6512 BLDC | 12 | $188 (reported) | $2,256 | 52% | [R&D World: Berkeley Humanoid Lite parts ($188 6512, $136 5010 actuators; $4,312 total)](https://www.rdworldonline.com/berkeley-debuts-5000-open-source-humanoid-built-with-desktop-3d-printers/); [arXiv 2504.17249: Demonstrating Berkeley Humanoid Lite](https://arxiv.org/abs/2504.17249) | | Actuator | 5010 BLDC | 10 | $136 (reported) | $1,360 | 32% | [R&D World: Berkeley Humanoid Lite parts ($188 6512, $136 5010 actuators; $4,312 total)](https://www.rdworldonline.com/berkeley-debuts-5000-open-source-humanoid-built-with-desktop-3d-printers/); [arXiv 2504.17249: Demonstrating Berkeley Humanoid Lite](https://arxiv.org/abs/2504.17249) | | Rest of robot | Compute & electronics | 1 | $197 (reported) | $197 | 5% | [IRZ: Berkeley Humanoid Lite's $4,312 BOM, actuators 81% (compute, battery, printed parts itemized)](https://irz.fr/en/articles/berkeley-humanoid-actuators-81-percent-en/); [R&D World: Berkeley Humanoid Lite parts ($188 6512, $136 5010 actuators; $4,312 total)](https://www.rdworldonline.com/berkeley-debuts-5000-open-source-humanoid-built-with-desktop-3d-printers/) | | Rest of robot | Printed structure | 1 | $200 (reported) | $200 | 5% | [IRZ: Berkeley Humanoid Lite's $4,312 BOM, actuators 81% (compute, battery, printed parts itemized)](https://irz.fr/en/articles/berkeley-humanoid-actuators-81-percent-en/); [R&D World: Berkeley Humanoid Lite parts ($188 6512, $136 5010 actuators; $4,312 total)](https://www.rdworldonline.com/berkeley-debuts-5000-open-source-humanoid-built-with-desktop-3d-printers/) | | Rest of robot | Grippers | 1 | $72 (reported) | $72 | 2% | [IRZ: Berkeley Humanoid Lite's $4,312 BOM, actuators 81% (compute, battery, printed parts itemized)](https://irz.fr/en/articles/berkeley-humanoid-actuators-81-percent-en/); [R&D World: Berkeley Humanoid Lite parts ($188 6512, $136 5010 actuators; $4,312 total)](https://www.rdworldonline.com/berkeley-debuts-5000-open-source-humanoid-built-with-desktop-3d-printers/) | | Rest of robot | Battery | 1 | $70 (reported) | $70 | 2% | [IRZ: Berkeley Humanoid Lite's $4,312 BOM, actuators 81% (compute, battery, printed parts itemized)](https://irz.fr/en/articles/berkeley-humanoid-actuators-81-percent-en/); [R&D World: Berkeley Humanoid Lite parts ($188 6512, $136 5010 actuators; $4,312 total)](https://www.rdworldonline.com/berkeley-debuts-5000-open-source-humanoid-built-with-desktop-3d-printers/) | | Rest of robot | Wiring, fasteners & other | 1 | $157 (estimated) | $157 | 4% | [IRZ: Berkeley Humanoid Lite's $4,312 BOM, actuators 81% (compute, battery, printed parts itemized)](https://irz.fr/en/articles/berkeley-humanoid-actuators-81-percent-en/); [R&D World: Berkeley Humanoid Lite parts ($188 6512, $136 5010 actuators; $4,312 total)](https://www.rdworldonline.com/berkeley-debuts-5000-open-source-humanoid-built-with-desktop-3d-printers/) | Actuators: $3,616. Whole robot: $4,312, actuators 84%. Actuator mass: 7.4 kg to 15.1 kg, largest share 6512 BLDC (36%), rest of robot 0.9 kg to 8.6 kg (published weight minus actuators). Magnet: 0.348 kg to 0.671 kg, largest share 6512 BLDC (55%). ## Asimov 1 (Menlo Research) Open-source DIY-kit biped: 23 actuated joints from five EC-A actuator sizes plus 2 passive toes, with a parallel RSU ankle. - **Country:** 馃嚫馃嚞 Singapore - **Actuators:** 25 (17 Planetary, 8 Harmonic) - **DOF:** 25 - **Magnet:** 0.56 to 1.05 kg NdFeB (estimated) - **Rare earths:** 0.16 to 0.39 kg (Nd 0.122 to 0.268, Pr 0.033 to 0.084, Dy 0.002 to 0.031, Tb 0.000 to 0.010) Estimated types rest on: part code P2-25 / P2-36 read as a two-stage planetary at that ratio; Menlo does not spell it out / part code H17 / H14 read as a strain-wave reducer of that size; Menlo does not spell it out. | Joint | Count | Type | Motor | Peak | At motor | Magnet g | Sources | | --- | --- | --- | --- | --- | --- | --- | --- | | Left hip pitch | 1 | Planetary (estimated) | EC-A6416-P2-25 | 120 N路m | 5.33 N路m (25:1, estimated) | 39.6 to 71.3 | [Menlo docs: Asimov 1 joint design and actuation](https://docs.menlo.ai/asimov/1/hardware/joint-design-and-actuation); [Menlo docs: Asimov 1 mechanical overview](https://docs.menlo.ai/asimov/1/overview/system-tour/mechanical) | | Right hip pitch | 1 | Planetary (estimated) | EC-A6416-P2-25 | 120 N路m | 5.33 N路m (25:1, estimated) | 39.6 to 71.3 | [Menlo docs: Asimov 1 joint design and actuation](https://docs.menlo.ai/asimov/1/hardware/joint-design-and-actuation); [Menlo docs: Asimov 1 mechanical overview](https://docs.menlo.ai/asimov/1/overview/system-tour/mechanical) | | Waist | 1 | Planetary (estimated) | EC-A6416-P2-25 | 120 N路m | 5.33 N路m (25:1, estimated) | 39.6 to 71.3 | [Menlo docs: Asimov 1 joint design and actuation](https://docs.menlo.ai/asimov/1/hardware/joint-design-and-actuation); [Menlo docs: Asimov 1 mechanical overview](https://docs.menlo.ai/asimov/1/overview/system-tour/mechanical) | | Left hip roll | 1 | Harmonic (estimated) | EC-A5013-H17-100 | 90 N路m | 1.13 N路m (100:1, estimated) | 15.8 to 30.5 | [Menlo docs: Asimov 1 joint design and actuation](https://docs.menlo.ai/asimov/1/hardware/joint-design-and-actuation); [Menlo docs: Asimov 1 mechanical overview](https://docs.menlo.ai/asimov/1/overview/system-tour/mechanical) | | Right hip roll | 1 | Harmonic (estimated) | EC-A5013-H17-100 | 90 N路m | 1.13 N路m (100:1, estimated) | 15.8 to 30.5 | [Menlo docs: Asimov 1 joint design and actuation](https://docs.menlo.ai/asimov/1/hardware/joint-design-and-actuation); [Menlo docs: Asimov 1 mechanical overview](https://docs.menlo.ai/asimov/1/overview/system-tour/mechanical) | | Left shoulder pitch | 1 | Harmonic (estimated) | EC-A5013-H17-100 | 90 N路m | 1.13 N路m (100:1, estimated) | 15.8 to 30.5 | [Menlo docs: Asimov 1 joint design and actuation](https://docs.menlo.ai/asimov/1/hardware/joint-design-and-actuation); [Menlo docs: Asimov 1 mechanical overview](https://docs.menlo.ai/asimov/1/overview/system-tour/mechanical) | | Right shoulder pitch | 1 | Harmonic (estimated) | EC-A5013-H17-100 | 90 N路m | 1.13 N路m (100:1, estimated) | 15.8 to 30.5 | [Menlo docs: Asimov 1 joint design and actuation](https://docs.menlo.ai/asimov/1/hardware/joint-design-and-actuation); [Menlo docs: Asimov 1 mechanical overview](https://docs.menlo.ai/asimov/1/overview/system-tour/mechanical) | | Left hip yaw | 1 | Harmonic (estimated) | EC-A3814-H14-107 | 60 N路m | 0.94 N路m (80:1, modeled) | 15.8 to 30.5 | [Menlo docs: Asimov 1 joint design and actuation](https://docs.menlo.ai/asimov/1/hardware/joint-design-and-actuation); [Menlo docs: Asimov 1 mechanical overview](https://docs.menlo.ai/asimov/1/overview/system-tour/mechanical) | | Right hip yaw | 1 | Harmonic (estimated) | EC-A3814-H14-107 | 60 N路m | 0.94 N路m (80:1, modeled) | 15.8 to 30.5 | [Menlo docs: Asimov 1 joint design and actuation](https://docs.menlo.ai/asimov/1/hardware/joint-design-and-actuation); [Menlo docs: Asimov 1 mechanical overview](https://docs.menlo.ai/asimov/1/overview/system-tour/mechanical) | | Left shoulder yaw | 1 | Harmonic (estimated) | EC-A3814-H14-107 | 60 N路m | 0.94 N路m (80:1, modeled) | 15.8 to 30.5 | [Menlo docs: Asimov 1 joint design and actuation](https://docs.menlo.ai/asimov/1/hardware/joint-design-and-actuation); [Menlo docs: Asimov 1 mechanical overview](https://docs.menlo.ai/asimov/1/overview/system-tour/mechanical) | | Right shoulder yaw | 1 | Harmonic (estimated) | EC-A3814-H14-107 | 60 N路m | 0.94 N路m (80:1, modeled) | 15.8 to 30.5 | [Menlo docs: Asimov 1 joint design and actuation](https://docs.menlo.ai/asimov/1/hardware/joint-design-and-actuation); [Menlo docs: Asimov 1 mechanical overview](https://docs.menlo.ai/asimov/1/overview/system-tour/mechanical) | | Left knee | 1 | Planetary (estimated) | EC-A4315-P2-36 | 75 N路m | 2.31 N路m (36:1, estimated) | 39.6 to 71.3 | [Menlo docs: Asimov 1 joint design and actuation](https://docs.menlo.ai/asimov/1/hardware/joint-design-and-actuation); [Menlo docs: Asimov 1 mechanical overview](https://docs.menlo.ai/asimov/1/overview/system-tour/mechanical) | | Right knee | 1 | Planetary (estimated) | EC-A4315-P2-36 | 75 N路m | 2.31 N路m (36:1, estimated) | 39.6 to 71.3 | [Menlo docs: Asimov 1 joint design and actuation](https://docs.menlo.ai/asimov/1/hardware/joint-design-and-actuation); [Menlo docs: Asimov 1 mechanical overview](https://docs.menlo.ai/asimov/1/overview/system-tour/mechanical) | | Left shoulder roll | 1 | Planetary (estimated) | EC-A4315-P2-36 | 75 N路m | 2.31 N路m (36:1, estimated) | 39.6 to 71.3 | [Menlo docs: Asimov 1 joint design and actuation](https://docs.menlo.ai/asimov/1/hardware/joint-design-and-actuation); [Menlo docs: Asimov 1 mechanical overview](https://docs.menlo.ai/asimov/1/overview/system-tour/mechanical) | | Right shoulder roll | 1 | Planetary (estimated) | EC-A4315-P2-36 | 75 N路m | 2.31 N路m (36:1, estimated) | 39.6 to 71.3 | [Menlo docs: Asimov 1 joint design and actuation](https://docs.menlo.ai/asimov/1/hardware/joint-design-and-actuation); [Menlo docs: Asimov 1 mechanical overview](https://docs.menlo.ai/asimov/1/overview/system-tour/mechanical) | | Left ankle pitch | 1 | Planetary (estimated) | EC-A4310-P2-36 | 36 N路m | 1.11 N路m (36:1, estimated) | 15.8 to 30.5 | [Menlo docs: Asimov 1 joint design and actuation](https://docs.menlo.ai/asimov/1/hardware/joint-design-and-actuation); [Menlo docs: Asimov 1 mechanical overview](https://docs.menlo.ai/asimov/1/overview/system-tour/mechanical) | | Right ankle pitch | 1 | Planetary (estimated) | EC-A4310-P2-36 | 36 N路m | 1.11 N路m (36:1, estimated) | 15.8 to 30.5 | [Menlo docs: Asimov 1 joint design and actuation](https://docs.menlo.ai/asimov/1/hardware/joint-design-and-actuation); [Menlo docs: Asimov 1 mechanical overview](https://docs.menlo.ai/asimov/1/overview/system-tour/mechanical) | | Left ankle roll | 1 | Planetary (estimated) | EC-A4310-P2-36 | 36 N路m | 1.11 N路m (36:1, estimated) | 15.8 to 30.5 | [Menlo docs: Asimov 1 joint design and actuation](https://docs.menlo.ai/asimov/1/hardware/joint-design-and-actuation); [Menlo docs: Asimov 1 mechanical overview](https://docs.menlo.ai/asimov/1/overview/system-tour/mechanical) | | Right ankle roll | 1 | Planetary (estimated) | EC-A4310-P2-36 | 36 N路m | 1.11 N路m (36:1, estimated) | 15.8 to 30.5 | [Menlo docs: Asimov 1 joint design and actuation](https://docs.menlo.ai/asimov/1/hardware/joint-design-and-actuation); [Menlo docs: Asimov 1 mechanical overview](https://docs.menlo.ai/asimov/1/overview/system-tour/mechanical) | | Left elbow | 1 | Planetary (estimated) | EC-A4310-P2-36 | 36 N路m | 1.11 N路m (36:1, estimated) | 15.8 to 30.5 | [Menlo docs: Asimov 1 joint design and actuation](https://docs.menlo.ai/asimov/1/hardware/joint-design-and-actuation); [Menlo docs: Asimov 1 mechanical overview](https://docs.menlo.ai/asimov/1/overview/system-tour/mechanical) | | Right elbow | 1 | Planetary (estimated) | EC-A4310-P2-36 | 36 N路m | 1.11 N路m (36:1, estimated) | 15.8 to 30.5 | [Menlo docs: Asimov 1 joint design and actuation](https://docs.menlo.ai/asimov/1/hardware/joint-design-and-actuation); [Menlo docs: Asimov 1 mechanical overview](https://docs.menlo.ai/asimov/1/overview/system-tour/mechanical) | | Left wrist | 1 | Planetary (estimated) | EC-A4310-P2-36 | 36 N路m | 1.11 N路m (36:1, estimated) | 15.8 to 30.5 | [Menlo docs: Asimov 1 joint design and actuation](https://docs.menlo.ai/asimov/1/hardware/joint-design-and-actuation); [Menlo docs: Asimov 1 mechanical overview](https://docs.menlo.ai/asimov/1/overview/system-tour/mechanical) | | Right wrist | 1 | Planetary (estimated) | EC-A4310-P2-36 | 36 N路m | 1.11 N路m (36:1, estimated) | 15.8 to 30.5 | [Menlo docs: Asimov 1 joint design and actuation](https://docs.menlo.ai/asimov/1/hardware/joint-design-and-actuation); [Menlo docs: Asimov 1 mechanical overview](https://docs.menlo.ai/asimov/1/overview/system-tour/mechanical) | | Neck | 2 | Planetary (estimated) | EC-A4310-P2-36 | 36 N路m | 1.11 N路m (36:1, estimated) | 31.6 to 61.0 | [Menlo docs: Asimov 1 joint design and actuation](https://docs.menlo.ai/asimov/1/hardware/joint-design-and-actuation); [Menlo docs: Asimov 1 mechanical overview](https://docs.menlo.ai/asimov/1/overview/system-tour/mechanical) | ### Rare earth by actuator (estimated) | Design | Count | Nd g | Pr g | Dy g | Tb g | Total g | Metal value US$ | | --- | --- | --- | --- | --- | --- | --- | --- | | EC-A4310-P2-36 | 10 | 55 | 16 | 4 | 1 | 76 (44 to 115) | $12.30 ($6.33 to $22.50) | | EC-A4315-P2-36 | 4 | 53 | 15 | 4 | 1 | 73 (44 to 107) | $11.77 ($6.34 to $21.04) | | EC-A6416-P2-25 | 3 | 39 | 11 | 3 | 1 | 55 (33 to 80) | $8.83 ($4.76 to $15.78) | | EC-A5013-H17-100 | 4 | 22 | 6 | 2 | 0 | 30 (18 to 46) | $4.92 ($2.53 to $9.00) | | EC-A3814-H14-107 | 4 | 22 | 6 | 2 | 0 | 30 (18 to 46) | $4.92 ($2.53 to $9.00) | ### Robot BOM | Group | Part | Count | Unit cost | Subtotal | Share | Source | | --- | --- | --- | --- | --- | --- | --- | | Actuator | EC-A4310-P2-36 | 10 | $180 to $612 (modeled) | $1,795 to $6,121 | 34% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | EC-A5013-H17-100 | 4 | $239 to $815 (modeled) | $956 to $3,259 | 18% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | EC-A4315-P2-36 | 4 | $226 to $770 (modeled) | $903 to $3,079 | 17% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | EC-A3814-H14-107 | 4 | $211 to $718 (modeled) | $842 to $2,872 | 16% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | | Actuator | EC-A6416-P2-25 | 3 | $261 to $891 (modeled) | $784 to $2,674 | 15% | [actuatorlist catalog: price and mass against peak torque, QDD, integrated and cycloidal actuators](https://actuatorlist.com/actuators?view=list) | Actuators: $5,281 to $18,004. Non-actuator BOM not published. Actuators are about 65% of the list price (35 to 120%). Actuator mass: 13.9 kg to 28.2 kg, largest share EC-A4310-P2-36 (18%), rest of robot 6.8 kg to 21.1 kg (published weight minus actuators). Magnet: 0.562 kg to 1.048 kg, largest share EC-A4310-P2-36 (29%). ## Magnet mass method The magnet sits in the motor, before the reducer, so each motor is sized from motor-side torque: peak output torque / (gear ratio x efficiency), or for a screw force x lead / (2 pi x efficiency). A joint uses its published ratio (catalog record, reducer or part code), otherwise its design's typical band below (modeled). When neither torque nor force is published, the joint's load class (from its joint and the robot's mass) stands in for the output. The motor torque picks a size class. Magnet mass = pi x airgap diameter x active length x magnet thickness x arc fill (70 to 90%) x 7.5 g/cm鲁 (sintered NdFeB). The range spans the classes the ratio and efficiency bands reach. Hydraulic joints carry no magnet at the joint. | Design | Typical ratio | Efficiency | Sources | | --- | --- | --- | --- | | Rotary QDD | 6 to 10:1 | 90 to 97% | [arXiv 2506.16356: single-stage planetary QDD actuators for legged robots, 5:1 to 15:1](https://arxiv.org/abs/2506.16356); [Humanoid.guide: quasi-direct-drive actuators in humanoids, usually 5:1 to 20:1](https://humanoid.guide/?p=18213); [actuatorlist catalog: published gear ratios of QDD, integrated and planetary joints](https://actuatorlist.com/actuators?view=list); [Pelonis Servobox planetary gearhead datasheet: above 97% one stage, above 94% two stage](https://datasheets.globalspec.com/ds/pelonis-technologies/sel-a62a-90-p2/d212302c-a74d-4b78-a6bb-d5fa59818bfc); [Humanoid.guide: harmonic vs planetary vs cycloidal reducers (efficiency 80 to 90, 90 to 97, 85 to 95%; cycloidal 30 to 100:1)](https://humanoid.guide/?p=16322) | | Planetary | 14 to 36:1 | 85 to 94% | [Unitree RL Lab: G1 actuator configs (N7520, N5020)](https://github.com/unitreerobotics/unitree_rl_lab/blob/main/source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree_actuators.py); [Menlo docs: Asimov 1 joint design and actuation](https://docs.menlo.ai/asimov/1/hardware/joint-design-and-actuation); [actuatorlist catalog: published gear ratios of QDD, integrated and planetary joints](https://actuatorlist.com/actuators?view=list); [Pelonis Servobox planetary gearhead datasheet: above 97% one stage, above 94% two stage](https://datasheets.globalspec.com/ds/pelonis-technologies/sel-a62a-90-p2/d212302c-a74d-4b78-a6bb-d5fa59818bfc); [Humanoid.guide: harmonic vs planetary vs cycloidal reducers (efficiency 80 to 90, 90 to 97, 85 to 95%; cycloidal 30 to 100:1)](https://humanoid.guide/?p=16322) | | Harmonic | 50 to 100:1 | 70 to 90% | [Harmonic Drive LPA-20 strain-wave gearhead, 51:1 to 101:1 (catalog)](https://actuatorlist.com/actuators/harmonic-drive-lpa-20); [Cone Drive harmonic solutions: up to 90% efficiency, 50:1 to 160:1](https://www.automate.org/products/cone-drive/harmonic-solutions-for-precision-motion-control); [Humanoid.guide: harmonic vs planetary vs cycloidal reducers (efficiency 80 to 90, 90 to 97, 85 to 95%; cycloidal 30 to 100:1)](https://humanoid.guide/?p=16322); [Firgelli: harmonic drive calculator, typical efficiency 0.75 to 0.90](https://www.firgelliauto.com/blogs/calculators/harmonic-drive-ratio-calculator) | | Cycloidal | 30 to 80:1 | 80 to 93% | [Humanoid.guide: harmonic vs planetary vs cycloidal reducers (efficiency 80 to 90, 90 to 97, 85 to 95%; cycloidal 30 to 100:1)](https://humanoid.guide/?p=16322) | | Tendon | 14 to 36:1 | 75 to 90% | [Unitree RL Lab: G1 actuator configs (N7520, N5020)](https://github.com/unitreerobotics/unitree_rl_lab/blob/main/source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree_actuators.py); [Menlo docs: Asimov 1 joint design and actuation](https://docs.menlo.ai/asimov/1/hardware/joint-design-and-actuation); [actuatorlist catalog: published gear ratios of QDD, integrated and planetary joints](https://actuatorlist.com/actuators?view=list); [Pelonis Servobox planetary gearhead datasheet: above 97% one stage, above 94% two stage](https://datasheets.globalspec.com/ds/pelonis-technologies/sel-a62a-90-p2/d212302c-a74d-4b78-a6bb-d5fa59818bfc); [Humanoid.guide: harmonic vs planetary vs cycloidal reducers (efficiency 80 to 90, 90 to 97, 85 to 95%; cycloidal 30 to 100:1)](https://humanoid.guide/?p=16322) | | Undisclosed | 14 to 80:1 | 75 to 94% | [arXiv 2506.16356: single-stage planetary QDD actuators for legged robots, 5:1 to 15:1](https://arxiv.org/abs/2506.16356); [Unitree RL Lab: G1 actuator configs (N7520, N5020)](https://github.com/unitreerobotics/unitree_rl_lab/blob/main/source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree_actuators.py); [Harmonic Drive LPA-20 strain-wave gearhead, 51:1 to 101:1 (catalog)](https://actuatorlist.com/actuators/harmonic-drive-lpa-20); [Humanoid.guide: harmonic vs planetary vs cycloidal reducers (efficiency 80 to 90, 90 to 97, 85 to 95%; cycloidal 30 to 100:1)](https://humanoid.guide/?p=16322) | | Roller screw | 2 to 5 mm lead | 80 to 90% | [Humanoid.guide: planetary roller screws in humanoids (lead sets force; 5 mm lead example)](https://humanoid.guide/?p=20588); [Firgelli: how Tesla Bot actuators work](https://www.firgelliauto.com/en-nl/blogs/actuators/how-do-tesla-bot-actuators-actually-work); [Firgelli: lead screw torque calculator, T = F x lead / (2 pi x efficiency)](https://www.firgelliauto.com/blogs/engineering-calculators/lead-screw-torque-and-force-calculator) | | Ball screw | 4 to 10 mm lead | 85 to 95% | [Industrial Monitor Direct: sizing lead and ball screws (ball screws 90 to 95% efficient)](https://industrialmonitordirect.com/blogs/knowledgebase/sizing-lead-screws-and-ball-screws-for-linear-actuation); [Firgelli: lead screw torque calculator, T = F x lead / (2 pi x efficiency)](https://www.firgelliauto.com/blogs/engineering-calculators/lead-screw-torque-and-force-calculator) | | Class | Motor torque up to | Airgap x length | Magnet g per motor | Comparable | | --- | --- | --- | --- | --- | | XS | 0.5 N路m | 22 x 10 mm | 5.4 to 11.7 | finger and gimbal micro motors (28 mm class) | | S | 2 N路m | 40 x 12 mm | 15.8 to 30.5 | 60 mm frameless (CubeMars RI60, 1.63 N路m peak) | | M | 8 N路m | 60 x 16 mm | 39.6 to 71.3 | 75 to 85 mm frameless (CubeMars RI80 4.1 N路m peak; Unitree N7520 ~6.9 N路m) | | L | 12 N路m | 80 x 20 mm | 79.2 to 135.7 | 85 to 90 mm frameless (TQ ILM85x26 9.37, maxon EC 90 flat 9.76 N路m peak) | | XL | above | 100 x 25 mm | 144.3 to 238.6 | 115 mm frameless (ILM115 class, RobStride 04 motor at ~14 N路m) | Metal value is each element's grams times its metal price (US$/kg, September 2026: Nd 140.88, Pr 150.27, Dy 233.55, Tb 1074.34; [Rare Earth Mining: neodymium metal price (SMM, China domestic and FOB, Sep 2026)](https://rare-earth-mining.com/neodymium-price/); [Business Analytiq: praseodymium price index, September 2026](https://businessanalytiq.com/procurementanalytics/index/praseodymium-price-index/); [Rare Earth Mining: dysprosium metal price (SMM, 99% min, Sep 2026)](https://rare-earth-mining.com/dysprosium-price/), [Rare Earth Exchanges: China rare earth prices, February 2026 (Dy metal 1.45M CNY/t)](https://rareearthexchanges.com/news/china-rare-earth-prices-rose-in-february-2026-led-by-magnet-metals/); [Rare Earth Mining: terbium metal price (SMM, China domestic and FOB, Sep 2026)](https://rare-earth-mining.com/terbium-price/)). It is the raw rare-earth content only, not a magnet or actuator price. Rare earths by magnet mass: Nd 21.75 to 25.6%, Pr 5.8 to 8%, Dy 0.35 to 3%, Tb 0 to 1%. Sources: [FAI: The robot boom has a magnet problem](https://www.thefai.org/posts/the-robot-boom-has-a-magnet-problem); [JDA Magnet: how sintered NdFeB magnets are made (grade composition)](https://jdamagnet.com/how-sintered-neodymium-magnets-made/); [Crystals 2023: Dy/Tb grain-boundary diffusion at 0.35 to 0.42 wt%](https://doaj.org/article/a708e544d3f34e75acf1a2fd65e78368).