I had a good week overhauling the hand control on this 3DOF robotic tail, and now it doesn't fight against me! (Cooperation is a nice feature for a limb to have I've learned)

Now, instead of some ugly smoothstep thing, the tail is endowed with the glossy smoothness of Bezier curves. Well, their cousins anyways. The new quadratic B-splines bound the overshoot that the motors want to take to keep the velocity smooth, while also keeping the torque from getting out of hand by virtue of these splines so smooth and tame. Here's a bunch of words all about the new change: https://lam.io/projects/tail/control/#interpolator . Here's the entirety of the demo that the image above was snipped from: https://www.youtube.com/watch?v=Zad9kOuZcuI .