Ramonovnotes on math, machine learning, and the occasional robothttps://ramonov.com/The shape of one jointhttps://ramonov.com/blog/one-joint-unitree-r1/https://ramonov.com/blog/one-joint-unitree-r1/low level control on a Unitree R1 EDU: making the elbow joint go up and down, and all the math that shows up on the waySat, 15 Aug 2026 00:00:00 GMT