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A comment on Show HN: Open-source quadruped robot with robotic arm. Parent comment

Re:Show HN: Open-source quadruped robot with robotic arm by gene-h on Tuesday September 15, 2020 @08:37PM (#24488365)
Boston Dynamics probably does some form of force control. That is controlling the force applied to the ground by the legs in addition to just the position the leg is moving. The actuators here appear to be purely position controlled.
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Re:Show HN: Open-source quadruped robot with robotic arm by nicrusso7 on Wednesday September 16, 2020 @04:29AM (#24490684)
yeah the current motor model takes the desired position as input and convert it to torque (applying some 'noise' trying mimic the real motors).
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