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This paper presents the modeling and numerical analysis of the Kangaroo lowerbody prototype, a novel bipedal humanoid robot developed and manufactured byPAL Robotics. Kangaroo features high-power linear electric actuators combinedwith unique serial-parallel hybrid chains, which allow for the positioning ofall the leg actuators near the base of the robot in order to improve theoverall mass distribution. To model and analyze such complex nonlinearmechanisms, we employ a constrained formulation that is extended to account forfloating-base systems in contact with the environment. A comparison is made todemonstrate the significant improvements achieved with TALOS, another humanoidbipedal robot designed by PAL Robotics, in terms of equivalent Cartesianinertia at the feet and centroidal angular momentum. Finally, the paperincludes numerical experiments conducted through simulation and preliminarytests performed on the actual Kangaroo platform.

Modeling and Numerical Analysis of Kangaroo Lower Body based on Constrained Dynamics of Hybrid Serial-Parallel Floating-Base Systems