Sorry for going off topic. "Electric Motor Scaling Laws and Inertia in Robot Actuators" by Ben Katz who designed the MIT Mini Cheetah in 2018 is very well known in the legged robotics community. His master’s thesis on actuator design is also widely referenced.

During the COVID period, some Chinese companies even sold variants of actuators inspired by the Mini Cheetah design.

Aaed Musa has also mentioned in some of his videos that his actuator designs were inspired by the Mini Cheetah actuator. Yes, His capstan drive video is especially impressive.

For example, in Aaed Musa’s video "I Built a Rubik's Cube Solving Robot" (https://www.youtube.com/watch?v=m0bMMALYMYk), he states in the description that the design was inspired by Ben Katz’s work.

Ben Katz master thesis, is worth reading: "A low cost modular actuator for dynamic robots" 2018 https://dspace.mit.edu/handle/1721.1/118671 and also has a good post https://robot-daycare.com/posts/2019-12-16-the-mini-cheetah-...

And also, The Rubik's Contraption (2018), 297 points, the work done by same author https://news.ycombinator.com/item?id=16561049