# T-Motor AK80-9

Human: https://roboterminal.app/hardware/ak80-9 · Agent: https://roboterminal.app/hardware/ak80-9.md

Quasi-direct-drive actuator used on open humanoids. CAN, integrated reduction.

- Family: T-Motor
- Layer: Actuate
- Maker: T-Motor
- Buses: can
- Typical: $300–450

## Field note

> Munro is explicit on the architecture: they're using planetary gear reduction.

- https://roboterminal.app/posts/g1-joint-five-parts · https://roboterminal.app/posts/g1-joint-five-parts.md
- Same class: QDD planetary, not a strain-wave. The exploded G1 is the shown joint. This SKU is the one you can buy.

## Buy

- [T-Motor AK series](https://store.tmotor.com/)

## Compatible

- [BNO085](https://roboterminal.app/hardware/bno085) (stack: Open humanoid leg)
- [CubeMars AK70-10](https://roboterminal.app/hardware/cubemars-ak70-10) (family: T-Motor family)
- [Jetson AGX Orin](https://roboterminal.app/hardware/orin-agx) (bus: CAN)
- [Jetson Orin Nano Super](https://roboterminal.app/hardware/orin-nano) (paired: Called out as a known pair)
- [Jetson Orin NX / AGX](https://roboterminal.app/hardware/orin-nx) (bus: CAN)
- [MCP2515 / TCAN](https://roboterminal.app/hardware/mcp2515) (bus: CAN)
- [NXP i.MX 8M Plus](https://roboterminal.app/hardware/imx8mp) (bus: CAN)
- [ODrive S1](https://roboterminal.app/hardware/odrive-s1) (paired: Called out as a known pair)
- [Pixhawk 6C](https://roboterminal.app/hardware/pixhawk-6c) (bus: CAN)
- [RealSense D435i](https://roboterminal.app/hardware/d435i) (stack: Open humanoid leg)
- [STM32F4](https://roboterminal.app/hardware/stm32f4) (bus: CAN)
- [STM32G4](https://roboterminal.app/hardware/stm32g4) (paired: Called out as a known pair)
- [STM32H7](https://roboterminal.app/hardware/stm32h7) (bus: CAN)
- [Teensy 4.1](https://roboterminal.app/hardware/teensy41) (bus: CAN)

## Stacks

- Open humanoid leg — QDD actuators + research brain. The open counterpart to a closed vendor chain.
- Open QDD leg — Backdrivable joints. Feel the ground. Harmonic would hide the impact.