The reduction of strain-wave, using a 'single' stage planetary system.
The MPRT - Modified Planetary Robotics Transmission project is open source hardware. This github repository hosts the OpenSCAD source and eventually, the rendered STL images for quick access.
Hardware designs (schematics and CAD) files are licensed under the Creative Commons Attribution-ShareAlike 3.0 Unported License and follow the terms of the OSHW (Open-source hardware) Statement of Principles 1.0.