[
 {
  "id": "robstride-rs-04",
  "category": "leg_actuator",
  "vendor": "RobStride",
  "model": "RS-04",
  "price_usd": 255.0,
  "price_note": "Seeed Studio (= list); CN warehouse",
  "price_checked": "2026-10-25",
  "buy": [
   {
    "seller": "Seeed Studio",
    "url": "https://www.seeedstudio.com/Robostride-04-Actuator-p-6775.html",
    "in_stock": true,
    "ships_from": "CN"
   },
   {
    "seller": "roboticscenter.ai ($295)",
    "url": "https://www.roboticscenter.ai/store/brand/robstride/",
    "in_stock": null,
    "ships_from": null
   }
  ],
  "specs": {
   "mass_g": 1420,
   "diameter_mm": 120,
   "length_mm": 56,
   "peak_torque_nm": 120,
   "rated_torque_nm": 40,
   "no_load_speed_rpm": 200,
   "rated_speed_rpm": 50,
   "gear_ratio": 9,
   "voltage_nominal_v": 48,
   "voltage_range_v": [
    15,
    60
   ],
   "peak_current_a": 90,
   "kt_nm_per_a": 2.1,
   "interface": "CAN 2.0 1 Mbps (CAN-FD variant sold for some models); MIT mode yes (separate protocol, select with type-0x19 frame + reboot); also position/velocity/current modes",
   "encoder": "dual magnetic 14-bit (output-absolute not stated)",
   "hollow_shaft_mm": null,
   "ip_rating": "IP52"
  },
  "cad": {
   "step_url": "https://github.com/RobStride/Product_Information/tree/main/Product%20Literature/CAN2.0/RS04/RS04.stp",
   "available": true
  },
  "sources": [
   "https://www.seeedstudio.com/Robostride-04-Actuator-p-6775.html",
   "https://github.com/RobStride/Product_Information",
   "https://www.robstride.com/",
   "https://github.com/RobStride/Python_Sample",
   "https://github.com/RobStride/robstride_ros_sample"
  ],
  "confidence": "datasheet",
  "notes": "Overkill for 8-20 kg but cheapest per Nm on the market. Seeed CN 11 on hand + 80 due 2026-11-14. PDF: 1510 g, rated 35 Nm. Curve (rpm,Nm): (95,120),(148,80),(160,60),(184,40),(190,10). Derived: peak 84.5 Nm/kg, rated 28.2 Nm/kg, $2.1 per peak Nm."
 }
]