AK10-9 QDD actuator (Skyentific edition)

AK10-9 from CubeMars (T-motor) with the Moteus actuator is a great combo (great hardware with a great electronics). This Quasi Direct Drive actuator is fast and powerful thanks to its large diameter planetary gears. The high back-drivability insures that you can easily estimate the motor load by current feedback, which is of corse is availably through the CAN bus, as well as PID parameters. Dual absolute encoder setup (motor encoder, and output encoder) ensure the absolute output position. Both driver electronics and motor have the temperature sensors.

GitHub link for additional files