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 (just one option) offers a variety of actuators. These actuators, while still relatively pricey, offer robust performance and are integral to the efficient functioning of the builds. Some models are: RMD X4: A lightweight and compact actuator that provides precise control and high efficiency.RMD X6: Offers a good balance of torque and speed, suitable for medium-sized applications.RMD X8: Features a more powerful motor and higher torque capacity, making it ideal for more demanding tasks.RMD X10: The most powerful actuator used, designed for high torque applications with excellent control features.