[ODE] Does anyone know detailed description of ODE's joint motor?

[Jeff Shim]

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Is there any paper or technical documentations about ODE's joint motor?

want to know its principle and related formulae. 


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Is there any paper or technical documentations about ODE's joint motor?<BR>
<BR>
want to know its principle and related formulae.<PRE><font size=2 color=7080aa>

</font></PRE>
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