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All twelve active joints use Maxon motors.

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

Part number 323890


Spec Sheet

Maxon Motor 323890 90W.pdf

Motor Controller/Motor Wire Routing

Motor Controller Power Routing.pdf
Motor Power Routing.pdf
Motor Controller and Motor Numbers.pdf

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

Maxon Reduction 166942 86.pdf


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

Maxon Encoder 228456 MR.pdf