  For achieving kinematically suitable configurations and highly dynamic task
execution, an efficient way is to consider robot performance indices in the
whole-body control (WBC) of robots. However, current WBC methods have not
considered the intrinsic features of parallel robots, especially motion/force
transmissibility (MFT). This paper proposes an MFT-enhanced WBC scheme for
parallel-legged robots. Introducing the performance indices of MFT into a WBC
is challenging due to the nonlinear relationship between MFT indices and the
robot configuration. To overcome this challenge, we establish the MFT
preferable space of the robot offline and formulate it as a polyhedron in the
joint space at the acceleration level. Then, the WBC employs the polyhedron as
a soft constraint. As a result, the robot possesses high-speed and
high-acceleration capabilities by satisfying this constraint. The offline
preprocessing relieves the online computation burden and helps the WBC achieve
a 1kHz servo rate. Finally, we validate the performance and robustness of the
proposed method via simulations and experiments on a parallel-legged bipedal
robot.
