3 papers
cs.RO2025
Control of Humanoid Robots with Parallel Mechanisms using Differential Actuation Models
Victor Lutz, Ludovic de Matteis, Virgile Batto +1
Several recently released humanoid robots, inspired by the mechanical design of Cassie, employ actuator configurations in which the motors are displaced from the joints to reduce l…
cs.RO2025
Extended URDF: Accounting for parallel mechanism in robot description
Virgile Batto, Ludovic de Matteis, Nicolas Mansard
Robotic designs played an important role in recent advances by providing powerful robots with complex mechanics. Many recent systems rely on parallel actuation to provide lighter l…
cs.RO2025
Optimal Control of Walkers with Parallel Actuation
Ludovic de Matteis, Virgile Batto, Justin Carpentier +1
Legged robots with closed-loop kinematic chains are increasingly prevalent due to their increased mobility and efficiency. Yet, most motion generation methods rely on serial-chain…