Composable Dynamics for Cooperative Humanoids: A RoboCompiler Extension
Overview
Research extends RoboCompiler to enable dynamics assembly for physically connected humanoids, ensuring consistent actuator loops, inter-robot forces, and ground support transitions with high precision in dynamic environments. (2026-10-14).
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- arXiv Robotics — research abstractsComposable Dynamics for Cooperative Humanoids: A RoboCompiler Extension
This research extends RoboCompiler to enable member-wise dynamics assembly for physically connected humanoids, ensuring consistent dynamics for internal actuator loops, inter-robot forces, and changing ground supports. The method achieves high precision in acceleration discrepancies and demonstrates robustness in dynamic environments with multiple support-mode transitions.
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