[1] The author of the posted article, Ben Katz, designed the MIT Mini Cheetah during his master’s program. His thesis has become very popular in the robotics community as a reference for actuator design, and it is freely available online.

Thesis: A low cost modular actuator for dynamic robots

https://dspace.mit.edu/entities/publication/b85069e2-f1cd-47...

https://www.youtube.com/watch?v=nmViQ1T03Rk

[2] Unitree, LIMX Dynamics, and other Chinese robotics companies may also have referenced or been influenced by his actuator design in the evolution of their own actuators.

https://www.militarytimes.com/industry/techwatch/2026/08/18/...

[3] Ben, tear down a Chinese version of the Mini Cheetah.

https://robot-daycare.com/posts/2022-11-02-mini-cheetah-clon...

https://www.youtube.com/watch?v=t5SHUWb6kH4&list=PL8H6WijZPO...