A new section dedicated to control system of the joints. It’s here.
You will find a detailed explanation about how to emulate spring / damper with actuators equipped with Force sensors. This can be very useful for those interested in haptic interfaces.
The video shows my first experiments, back to 2016, with an Arduino Due board.
On Horus Mk. I, I designed a smaller and cheaper board based upon dsPIC.
Any comment / feedback would be most welcome as Joint Control System is in progress and I am sure there is still room for many improvement !
How I build a Biped Robot 