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There doesn't seem to be anything in the gap between linear actuators or servos that can move a few grams and linear actuators that supply forces of over 100N.

Hydraulics are also expensive, so electric motors attached to worm gears are the only real option between the two but I haven't seen any implementation of them that is precise and fast enough to control robot legs.

@jond thank you! I think we found one that we can use for testing but I will keep that in the list of options.

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