It is great to see that Ben Katz was finally able to announce his work on the MIT Mini Cheetah!  I’m looking forward to reading their ICRA paper, if nothing else to figure out what motor selection they made and how to design a more compact gearing system.  My current prototypes rely exclusively on belts for reduction, as I decided that my current geared prototypes were too cumbersome.

UPDATE 2019-03-06: I now see that Ben’s thesis in his post is actually his master’s thesis, which fully describes the actuators and robots.  I had erroneously thought it was just his undergrad thesis.  Thanks for publishing so much!