Quadruped with 3D cycloidal Gearboxes

25:1 Cycloidal Gearboxes (triple disk)
https://www.youtube.com/watch?v=fwUysFFMwdk
More Details at https://www.thingiverse.com/thing:3888483

Custom Brushless Controller https://hackaday.io/project/157812-3d-printed-robot-actuator/log/146170-actuator-controller-hardware
Motor ML5010 (with Modified Shaft)
Absolute Magnetic Encoder AS5147 (Custom Board)

https://hackaday.io/project/167855-simple-cycloidal-robot-knee