CM6 uses 6 gimbal BLDC motors paired with small gear ratio gearboxes ( from 5:1 to 9:1), by doing that it is passively compliant and safe. Each Joint uses an Spectral driver that is mounted on modular actuator designs for specific gimbal motors. Design can be changed easily by using different-sized aluminum extrusions or changing the gear ratio of modular gearboxes. The robot's main goal is to be a research platform for the development of compliant and safe robotics.

Note that this robot is not as refined as our other robots like PAROL6; some parts are hard to source and might be much more expensive. Building instructions are also not as good and you will need to tinker a lot!