This is awesome! Thanks!

If the actuator status LED is blinking orange instead of red (sometimes it's hard to tell the difference), it could be that a joint position safety limit is set and the actuator is reaching that limit. That would also explain the slightly higher winding temperature. The red blinking would be a motor...

Setting the P or D gains too high on the effort loop (or any of the others) will cause shaking / buzzing due to sensor noise. If you want to more fully remove impedance from the effort/torque loop, you can lower the P/D gains, and instead use the integral I-term, Ki (units of PWM / Nm Error * sec). ...

Hi, sorry for the delay getting back to you. There is not a way for you to reverse the sign convention of the feedback from the actuator or in Scope. The closest you could get I think would be to make a custom chart that inverts the feedback for the purposes of visualization, but doesn’t change the ...

Problems where the actuator output position jumps by 90º is a problem where there is mechanical backlash on the magnetic encoders that provide the multi-turn absolute sensing on the output. If you can send us the actuator we can repair it. We can coordinate via support@hebirobotics.com . Thanks, -Dave

Also, a quick follow-on. If you're just looking to get a single actuator up and running while you get a router, setting a static IP is a pretty good use case. There are instructions on docs.hebi.us for doing a hardware reset to static IP (10.11.12.13). You will need to set your computer to a static ...

Hi, Often corporate / university networks enforce security restrictions where actuators may get a valid IP address, but still don’t show up when doing a lookup in Scope or the APIs. The best way around this is to run your own local network with a router running DHCP . You can can connect the actuato...

Istvan, The actuators do not contain magnetometers. Even if they did they would be mostly measuring magnetic effects from the motor and gears. Overall, forward-integrating IMU data to get pose estimates doesn't work well without other sources to fuse in, like wheel odometry, vision, lidar, etc. Out ...

Qiang, To address your questions, I'm assuming you're running the latest version of the hebi-matlab-examples repository on Github. For working with single actuators, the best place to start is with the basic examples for the X-Series actuators . 1. I checked the control section, and I am wondering w...

Qiang, We have done some demos using EMG sensors before, sending the amplified signals to an I/O Board : https://www.youtube.com/watch?v=vzzbvSzVjmE In the video above we used the analog voltage input on the I/O board to read the EMG sensor, a MyoWare Muscle Sensor . Based on that analog signal you ...