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\|	\|	jpieper.com Full rate inverse dynamics on the quad A0 \| A Modicum of Fun	46.4 parsecs away Travel
\|		Last time I updated my inverse kinematics solution to also include dynamics, velocities and forces. Now I'm in the process of integrating this onto the robot. The old SMMB / HerkuleX control software commanded the servo positions in an open loop, which did not take into account the actual position of the joints in any...	46.4 parsecs away Travel