Stage 5Session 52Optional
Impedance
Compliance rather than stiffness: commanding a relationship between position and force instead of a position. Optional, and honest about its ceiling, because a geared joint puts a limit on this that no controller can argue with.
What this teaches me
- Done when
- An arm that is compliant rather than stiff.
- Progress
- 0 of 1 sessions0%
Session 52
Impedance
An arm that is compliant rather than stiff, and the honest limit a gearbox puts on that.
- Not built yet
Impedance and rehab mode
Command a relationship between position and force rather than a position, and say why a gearbox sets the limit rather than the controller.