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cs.RO2026
Design and Analysis of a Nonlinear Parallel Mechanism Coupling for Dynamic Humanoid Legs
Rohit Kumar, Heiner Peters, Felix Wiebe +5
Humanoids increasingly demand lightweight leg mechanisms for agile, dynamic, and energy-efficient locomotion. Reducing distal inertia through proximal actuation has thus become a c…
cs.RO2021★ 3 cited
Design, analysis and control of the series-parallel hybrid RH5 humanoid robot
Julian Esser, Shivesh Kumar, Heiner Peters +5
Last decades of humanoid research has shown that humanoids developed for high dynamic performance require a stiff structure and optimal distribution of mass--inertial properties. H…