00:06Can I?
00:08Yeah.
00:09Oh, okay.
00:10I can try it.
00:19Go down.
00:20Go down.
00:21Oh, okay.
00:21I can stop?
00:22Yeah.
00:26Oh, a hard stop?
00:34Yeah.
00:34So, basically, we manufactured actuators.
00:37Yeah.
00:38And we are showing just capabilities.
00:39Here, we are showing transparency of actuators.
00:42Like, if you, one side, if I actually touch the link, you will feel it on the other side.
00:47And it's very sensitive to that.
00:48Now, you can feel it, like, super fast.
00:58Now it's very hot.
01:01What type of controller?
01:04Impedance controller.
01:05Running at 20 kilohertz inside the actuators.
01:08Oh, just 20?
01:0920 kilohertz.
01:10Oh, 20 kilohertz.
01:11Yeah.
01:13Is there a big difference if you were to go at a slower frequency?
01:16Uh, it's not, it's not about, uh, frequency.
01:19It's, like, we are still sending one kilohertz from, uh, the main computer.
01:23Oh, you are?
01:24One kilohertz.
01:25Uh, but, uh, the thing is, a lot of the manufacturers lock down the impedance mode so you can just
01:30have
01:30constant gains.
01:32Uh, and, uh, these constant gains limit down what you can do with the actuators.
01:37Uh, so here we give you the full axis.
01:39You can do actually shaping.
01:40You can do a bunch of things, uh, in terms of, like, uh, not the interestingness, not the adapting.
01:46Everything you have.
01:47All the parameters are important.
01:48It's one function.
01:49Uh, because most of us who are robotic students, uh, we do the whole purpose, like, from winding
01:54the actual action, all the way up to reinforcement learning, uh, and the ecosystem.
01:59Uh, okay, uh, in the room for a minute, the other direction will rise.
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