This project introduces 3d printed cycloid gear actuator. The cycloid gear actuator is equipped with a VESC firmware-based motor controller, and the motor controller hardware has also been developed in other projects. The cycloid gears have the gear rate of 27:1 and 1mm eccentricity. The motor used is a Tarot 4008 (330 kv) motor. The project was inspired by Paul Gould's Cycloidal Gear Design.