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Open Source Servo Controller

Hello All,
I was going through with different servo actuators available in the market.
There are some of very good open-source bldc servo-controllers available.

There is 1 such project called https://www2.eecs.berkeley.edu/Pubs/TechRpts/2018/EECS-2018-86.pdf
This is a university project from UC, Berkeley and promise to make the servo actuator to be very affordable.

I was trying to know more about this project, but was not able to get more than this research paper.
Do anyone has more information about this or any other popular open-source servo-motor options.

Saurabh

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