Torque controlled robotic arm (1)

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For the robotic arm, I'm thinking of using an opentorque robotic actuator with odrive for the shoulder and for the rest of the joints(base, elbow, wrist), will be using nema17 closed-loop steppers. I'm currently testing the closed-loop stepper drives with 3D printed planetary gear box. Looking forward to doing some more research on different types of reducers.

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