2 DoF gravity compensation - moteus w / C++

Source code: https://github.com/mjbots/gravity-comp Get moteus: https://mjbots.com Video 1: https://www.youtube.com/watch?v=VTyuRj0TDcM 00:00 - Intro 00:30 - Hardware 01:37 - moteus configuration 04:04 - Inverse dynamics 05:20 - Software 34:46 - Experiment iteration 38:24 - Final testing