I know that there are some open-source firmwares for AX12, for exemple:
There is also an open-source firmware project from the Rhoban team for MX64.
The aim here is to experiment the torque control based on current sensing:
I know that there are some open-source firmwares for AX12, for exemple:
There is also an open-source firmware project from the Rhoban team for MX64.
The aim here is to experiment the torque control based on current sensing: