Here is a Whole-Body Control (WBC) framework designed for series-parallel hybrid robots. Most WBC frameworks are made for serial or tree-type robots and can’t take advantage of the entire workspace of a series-parallel hybrid robot. This framework can “exploit the entire position and velocity space of a robot with parallel submechanisms.”
Dennis Mronga, Shivesh Kumar, and Frank Kirchner are behind this approach. The video shows the humanoid RH5 robot using this approach to performs squats and boxing movement.