Antagonistic output actuation

A method comprising:

• receiving a command to change a direction of rotation of an output shaft of a transmission from a first direction to a second direction opposite to the first direction, wherein the transmission comprises an input shaft, the output shaft, and a first plurality of gears having a first gear ratio, wherein the first plurality of gears is configured to transfer motion of the input shaft to the output shaft, and wherein the transmission has an extent of backlash deadband;
• in response to the received command, driving the transmission through a first portion of the extent of backlash deadband by driving the input shaft with a first motor to drive the output shaft in the second direction through the first gear ratio, wherein the first motor is connected to the input shaft;
• and
• driving the transmission through a second portion of the extent of backlash deadband by driving the output shaft in the second direction through a second gear ratio with a second motor to bias the transmission to the first motor, wherein the second motor is connected to the output shaft of the transmission through a second plurality of gears having the second gear ratio, wherein the second gear ratio is smaller than the first gear ratio, and wherein the second portion is greater than the first portion.

A non-transitory computer readable storage medium having stored thereon instructions that, when executed by a computing device, cause the computing device to perform operations comprising:

• receiving a command to change a direction of rotation of an output shaft of a transmission from a first direction to a second direction opposite to the first direction, wherein the transmission comprises an input shaft, the output shaft, and a first plurality of gears having a first gear ratio, wherein the first plurality of gears is configured to transfer motion of the input shaft to the output shaft, and wherein the transmission has an extent of backlash deadband;
• in response to the received command, driving the transmission through a first portion of the extent of backlash deadband by driving the input shaft with a first motor to drive the output shaft in the second direction through the first gear ratio;
• and
• driving the transmission through a second portion of the extent of backlash deadband by driving the output shaft in the second direction through a second gear ratio with a second motor to bias the transmission to the first motor, wherein the second motor is connected to the output shaft of the transmission through a second plurality of gears having the second gear ratio, wherein the second gear ratio is smaller than the first gear ratio, and wherein the second portion is greater than the first portion.