T-MOTOR AK80-9
The published-paper default QDD module — MIT-Cheetah-lineage planetary actuator (9 Nm rated / 18 Nm peak) that most legged-robot codebases were tuned on.
Full specifications
Last verified: 2026-07| Rated / peak torque | 9 Nm / 18 Nm† |
| Reduction | 9:1 planetary (backdrivable)† |
| Weight | ≈485 g† |
| Bus | CAN† |
| Supply | 24–48 V DC† |
| Heritage | MIT-Cheetah lineage architecture† |
| Price band | ≈$400–600/joint |
| MOQ | 1 unit |
| Volume pricing | 15–30% lower at volume† |
† Manufacturer-reported, not yet independently verified.
Fits with
Confirmed and manufacturer-claimed platform compatibility. We check your exact wrist and communication setup before quoting.
Supplier
T-MOTOR is an established BLDC motor manufacturer (drone and robotics heritage) whose planetary and quasi-direct-drive actuator modules are widely used in legged-robot and humanoid builds.
Downloads
FAQ
Design to rated or peak torque?
Rated. Peak is a seconds-long burst figure; continuous motion happens at rated torque, and QDD modules heat up at stall. Design to 9 Nm, celebrate 18.
Why is this the research default?
Most published legged-robot baselines were built on AK-series modules, so matching them saves weeks of controller retuning. Innovate on the robot first, the joint later.
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