AUTHOR: Kevin Shin
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.
Outline/Framework/Recipe/Steps
Reachy Robot Safety Guardrail/Fencing - using Dynamixel Firmware
Safety Guardrails? Why?
Possible solutions for Reachy?
Dynamixel Firmware configuration Options
Recommended Reachy Dynamixel Configurations
To configure Safety Guardrails/fencing
To configure PID for smoother and accurate movement - Dynamixel MX servos
***Hang in there! Reachy will be here soon!***