Revision History
Quasi-direct drive · 6 revisions
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Recent edit summaries
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- Correction: Corrected the Wensing et al. MIT Cheetah actuator figures (the 26 Nm and 37 rad/s numbers are not in the paper), the author of the 2019 QDD manipulation paper (Gealy, Abbeel et al., not Simon Kalouche), the Stanford Doggo transmission (about 3:1 belt drive, not planetary), and the Unitree G1 teardown (an ankle module with tooth counts 18/14/60 and 16/20/60, not knee/hip stages of 3.3:1 and 6.25:1) (plus 9 minor fixes)
Version 6 · Nov 5, 2026, 02:36 AM
- Update: fix a broken link on the first name Albert (pointed to the ALBERT language model)
Version 5 · Nov 2, 2026, 08:51 AM
- Correction: first author of the RMA paper is Ashish Kumar
Version 4 · Oct 27, 2026, 10:35 AM
- Improve internal links (2026-10-13)
Version 3 · Oct 13, 2026, 10:14 AM
- Added 6 contextual internal links
Version 2 · Jul 23, 2026, 04:06 PM