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This work presents Dimitri, an open-software & open-hardware robot torso equipped with modular low cost compliant joints, built to allow advanced research on human-robot interaction, force-aware object manipulation and environment exploration. The robot has 13 DOFs: 4 DOFs with series elastic actuators in each arm, 3 DOFs for roll, pitch and yaw of the waist, and 2 DOFs for head pan and tilt....
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