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I subscribe to a small channel on YouTube and the channel owner had a very impressive demo of low latency bi-directional teleoperation. He's got some Cheetah vids so I'm guessing he at least contributed some code here if not control/hardware.

https://www.youtube.com/watch?v=FnQGPGG-vuQ

I feel creepy posting this for some reason but if you have even an inkling of the complexity it's a crazy demo that I had to share lol.

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That channel owner, Ben Katz did the mechanical hardware, motor control PCB + firmware for the MIT Mini Cheetah as part of his PhD, here is his blog post on it[1], which links to a full technical report. The latest firmware is here [2]

[1] http://build-its-inprogress.blogspot.com/2019/03/hello-there...

[2] https://os.mbed.com/users/benkatz/code/Hobbyking_Cheetah_Com...

Ah! That links to the thesis folks were talking about in the comments. Thank you!!!

Also, geez. That's a lot of (very impressive) work.

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