Humanoid Robot Servo Alternatives for Robotis Dynamixel

The biggest cost driver for humanoid robots are the servos. That’s why I compared servos of different suppliers in the table below.
If you know additional suppliers that should be mentioned, please write a comment or email (see menu “support”).

There are 2 tables, one for servos with a bus and one for PWM servos.

Servos with Serial Bus

Picture	Torque [kg f cm]	Weight [g]	Angle [°]	Price & Link [USD]	Protocol & Data	Company	Part No.	Voltage [V] max	Voltage [V] min	Speed [RPM]	Current [A]	Dim X [mm]	Dim Y [mm]	Dim Z [mm]	Sensor
	16.5	54.6	300	37	TTL 1mbps	Dynamixel	AX-12	12	9	59	1.5	50	40	32	Poti
	37.7	72	300	210	RS-485	Dynamixel	RX-28	18.5	12	54	1.9	50.6	35.5	35.6	Poti
	74	126	360	250	TTL 3mbps	Dynamixel	MX-64T	14.8	10	78	5.2	61.1	41	40.2	Magnetic
	24	60	320	124	TTL	Herkulex	DRS-0201	12	7	60		45	31	24	Poti
	12	45	320	38	TTL	Herkulex	DRS-0101	12	7	65		45	31	24	Poti
	52	123	320	220	TTL 1Mbps	Herkulex	DRS-0401	14.8	9.5	61		56	38	35	Poti (DRS 0402 with magnet +50USD)
	77	123	320	254	TTL 1Mbps	Herkulex	DRS-0601	14.8	9.5	61		56	38	35	Poti
	42	61	270	120	TTL	Kondo	KRS-4034HV ICS	12	9	60	3.1	43	32.5	32
	14	41.5	270	53	TTL	Kondo	KRS-2552RHV ICS	12	9	71	1.3	41	30.5	21
	67	103	270	237 (196 for 18 set)	TTL	Kondo	KRS-6003RHV ICS	12	9	45	6.1	51	39.5	32
	25		270	85		Kondo	KRS-2572HV ICS

Servos with PWM Control

Picture	Torque [kg f cm]	Weight [g]	Angle [°]	Price & Link [USD]	Protocol & Data	Company	Part No.	Voltage [V] max	Voltage [V] min	Speed [RPM]	Current [A]	Dim X [mm]	Dim Y [mm]	Dim Z [mm]	Sensor