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As you know, B1 doesn't have torque sensor, Impedance Control feature is only for research in labs. If you want to use this feature , you have to do lots of work to estimate the interaction force. The estimated interaction force will be used in the impedance control algorithms. |
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It looks so far I cannot find the way to get the torque of each joint.
https://github.com/MrAsana/AMBER_B1_ROS2/wiki/SDK-&-API---UDP-Ethernet-Protocol--for-controlling-&-programing
How to get torque of each joints?
Also, I'm interested in Impedance Control as is mentioned in the Kickstarter description page,
https://www.kickstarter.com/projects/amberobotics/a-new-generation-of-7-axis-robot-arm-for-creative-tasks/description
How to use this torque control mode?
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