Abstract: A compact integrated servo motor and gear reducer assembly that includes a rotor having a rotor shaft and a stator, and a planetary gear system including a sun gear, a plurality of planet gears and an outer ring gear. First and second bearings support the planetary gear system. The first and second bearings are located on opposing sides of the planetary gear system, and the first bearing has a first diameter and the second bearing has a second diameter. A third bearing supports the rotor shaft, and the third bearing has a third diameter that is less than the first and second diameters. Moreover, the third bearing is positioned between an edge of the first bearing and an edge of the second bearing. The assembly can be used in applications requiring high torque output but yet with size and/or space limitations.