GENERAL·Nature.com·
Koopman global linearization of contact dynamics for robot locomotion and manipulation enables elaborate control
Viscoelastic contact underpins the use of Koopman operators with sufficient accuracy to control inputs. This enables the convex Model Predictive Control of a legged robot, and the real-time control of a manipulator engaged in dynamic pushing.
Summary curated by Max Robotics. Original article © Nature.com.