This lecture covers the different types of actuators used in robotics, including hydraulic, pneumatic, and electromechanical actuators. It explains the advantages and disadvantages of each type, such as power-to-weight ratio, speed, and cost. The lecture also delves into specific examples of actuators, like linear and rotary hydraulic actuators, and the use of pneumatic actuators for on-off movements. Additionally, it discusses the characteristics of stepper motors, permanent magnet stepper motors, and reluctant stepper motors. The lecture concludes with a comparison of specific energies and the main types of electromechanical actuators, such as stepper motors and continuous current motors.