I mentioned that work in a comment and realized that it is crazy that this is not more well-known. It shows how crappy mechanics with tons of backlash can be c

I mentioned that work in a comment and realized that it is crazy that this is not more well-known. It shows how crappy mechanics with tons of backlash can be compensated by a smart control loop. I think it is really an important notions to people who are interested in making their own robotics.