Accurate dynamics model is essential for predicting future behavior and optimizing control actions over a finite time horizon. The analytical computation of the robot dynamics becomes availabe recently , , . By accurately modeling the robot dynamics and accounting for higher-order effects, we expect the controller can better handle disturbances and uncertainties in the system. This can lead to more stable and reliable control performance, even in challenging operating conditions.
 R. Budhiraja, J. Carpentier, C. Mastalli, and N. Mansard, “Differential dynamic programming for multi-phase rigid contact dynamics,” in IEEE-RAS Intern. Conf. on Humanoid Robots, 2018, pp. 1–9.
 J. Carpentier and N. Mansard, “Analytical derivatives of rigid body dynamics algorithms,” in Robotics: Science and systems (RSS 2018), 2018.
 V. Samy, K. Ayusawa, and E. Yoshida, “Generalized comprehensive motion theory for high-order differential dynamics.” in Robotics: Science and Systems, 2021.