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These actuators remain popular in the robotics community due to their high torque output and compact form factors. Planetary gears are favored for their efficiency and ability to handle high power densities, crucial for humanoid robotics. Cycloidal gears offer superior load-bearing capabilities and minimal backlash, ideal for precise motion control. MyActuator M yActuator (just one option) offers a variety of planetary actuators. These actuators, while still relatively pricey, offer robust performance and are integral to the efficient functioning of the builds. Some models are: