A motor housing with integrated gears includes a motor having a first shaft, the motor configured to actuate the first shaft, a dowel, the dowel rotatably coupled to the first shaft, an encoder configured to surround the dowel, the encoder being configured to measure an angular velocity of the first shaft, a gear system in meshed communication with the first shaft, and a second shaft in meshed communication with the gear system such that the motor is operable to transmit power to the second shaft. The housing further includes at least one seal, the seal located on the dowel between the first end and the second end of the dowel and creating a barrier such that the dowel is rotatable within the seal while preventing migration of lubricant on the at least one gear into the encoder.