Conference Papers
Control of Humanoid Robots with Parallel Mechanisms using Differential Actuation Models Victor Lutz, Ludovic De Matteïs, Virgile Batto, Nicolas Mansard IEEE ICRA 2026 — International Conference on Robotics and Automation, Vienna, Austria, 2026. arXiv:2503.22459 · Google Scholar
Several recently released humanoid robots employ actuator configurations in which the motors are displaced from the joints to reduce leg inertia. This paper introduces a compact analytical formulation for the two standard knee and ankle mechanisms that captures the exact non-linear transmission while remaining computationally efficient. The model is fully differentiable up to second order, enabling low-cost evaluation of dynamic derivatives for trajectory optimization and of the apparent transmission impedance for reinforcement learning.