Author

Mehdi Heydari Shahna

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Preprint Oct 2026

Composable Dynamics for Cooperative Humanoids: A RoboCompiler Extension

Physically connected humanoids need consistent dynamics for internal actuator loops, inter-robot forces, and changing ground supports. We extend RoboCompiler with member-wise dynamics assembly, compiling reduced dynamics from rigid bodies, moving actuator parts, and reflected rotor inertias. Compiled body Jacobians and...

Mehdi Heydari Shahna, J. Mattila · 0 citations

Preprint Sep 2026

RoboCompiler: Graph-Native Compilation of Closed-Chain Robots for Consistent Modeling, Control, and Simulation

RobCompiler is presented, a graph-native framework that compiles a canonical mechanism graph into a shared mechanical interface that assembles feasible configurations through rank-checked continuation and correction and demonstrates task performance and model reuse under native contact.

Mehdi Heydari Shahna, Joongheon Kim, J. Mattila · 3 citations