Here, I would like to start a series of notebook to have reflexion about different things you can do with the torque. Using dynamixel properties or other torque or force sensors.
Using dynamixel, you have instructions like :
present_load torque_limit motor.compliance
which could be interesting to test.
First example, a use of the present_load to reach a verticale position (in the vrep simulator and on a real mini_dof). In these examples, only one motor receive a goto_position order (m2), the other (m3) use the present_load to try staying vertical.
http://www.poppy-prof.fr/?page_id=4&id=76