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About

Narcis Miguel is a roboticist specializing in the hardware design, control, and modeling of humanoid and bipedal robots, with a particular focus on hybrid serial–parallel floating-base systems. His major contributions center on the development of the humanoid robot Kangaroo, where he has advanced whole-body kinematics modeling in the presence of closed-linkages—a critical challenge for robots with complex, biologically inspired structures. Miguel’s work on the hardware design and control architecture of Kangaroo (2022, 6 citations) provides a foundational framework for integrating mechanical design with real-time control, while his subsequent studies on constrained dynamics (2024, 2 citations) offer rigorous numerical analysis for stable locomotion. His research bridges theory and practice, enabling more agile and robust bipedal robots. With a growing citation impact, Miguel’s achievements are notable for their direct application to humanoid robotics, making him a key figure in advancing the field’s understanding of closed-chain kinematics and floating-base dynamics. His work is essential reading for students and researchers interested in the intersection of hardware design, control, and dynamic modeling in legged robotics.