AUTHOR: Kevin Shin

Outcome

Initial Goal: Research and report the technical implementation steps for Reachy Humanoid

Realized Outcome: Defined tools and steps for implementing safety guardrails at the actuator level to provide 1) Safety fencing/limits, and 2) natural humanoid movements.

Steps to achieve outcome

Outline/Framework/Recipe/Steps

  1. Reachy Robot Safety Guardrail/Fencing - using Dynamixel Firmware

  2. Dynamixel Firmware configuration Options

  3. Recommended Reachy Dynamixel Configurations

Reference material

                                            ***Hang in there!  Reachy will be here soon!***