Dynamixel Compliance Parameter

[Artificer]

I’m getting ready to build my first hobby robot using a Bioloid kit and I had some questions about the Dynamixel motors I haven’t been able to find the answers to by searching prior posts.

I’m wondering if anyone has experimented with the compliance and torque parameters at the same time to smooth out a robot’s gait. With an industrial servo system I would de-tune the servo, open up it’s in position tolerance, and possibly reduce its torque to make it springy. I'm hoping I can do something similar with a Dynamixel motor.

[JonHylands]

I've played with those parameters, not so much with walking robots, but with arms. You can definitely smooth things out somewhat by adjusting them.

- Jon