Backdrivability
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![[1904.03815] Quasi-Direct Drive for Low-Cost Compliant Robotic Manipulation](https://ar5iv.labs.arxiv.org/html/1904.03815/assets/x2.png)


![[PDF] Proprioceptive Actuator Design in the MIT Cheetah: Impact ...](https://d3i71xaburhd42.cloudfront.net/793f0a0c2ee71d20f719557ab5d90636963f62a1/9-Figure8-1.png)






