With the popularity of robot dogs, many people have gotten on the bandwagon and tried building DIY versions. Most of them end up attaching a gearbox to an off-the-shelf brushless motor and call it a day. Not everyone goes that way, though, which is why this internal cycloidal drive actuator caught our eye.
This is a companion discussion topic for the original entry at https://hackaday.com/2024/02/16/compact-cycloidal-drive-lives-inside-this-custom-brushless-motor/