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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.

本摘要由 Max Robotics 编辑，原文版权归 Nature.com 所有。