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Source Robotics on Instagram: "CM6 is one of older robots that we revived to be used as a test platform for some teleoperation and machine learning work. If you want to build one check the github link in bio! In this example, the robot is in PD impedance mode where it essentially acts as a virtual spring. The KP and KD numbers are parameters for the PD controller that runs on each joint of the robot, and changing them alters the impedance of the robot. Impedance control involves controlling how
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