I am interested to design an electro hydrostatic actuator (EHA) for a robotic system. The EHA should have 20N.m maximum torque, position tracking bandwidth of 10HZ, and overal weight of 2 kgs. I have searched a lot to find a compact reversible gear pump or a compact power pack. However, most of industrial pumps and power packs are heavy and bulky. I will be appreciated if someone can introduce an appropriate product for my purpose.