Motors

All twelve active joints use Maxon motors.

Maxon RE 35 ∅35 mm, Graphite Brushes, 90 Watt

Part number 323890

Spec Sheet

Motor Controller/Motor Wire Routing

Gear Reduction

All joints use Maxon 86:1 gear reduction boxes.

Maxon Planetary Gearhead GP 32 C, ∅32 mm, 1.0–6.0 Nm, Ceramic Version

Part number 166942

Spec Sheet

Encoders

The Allegro Dog uses Maxon Magneto-Resistant (MR) encoders.

Maxon Encoder MR, Type L, 1000 CPT, 3 Channels, with Line Driver

Part number 228456

Spec Sheet