Nature Communications, Published online: 19 June 2026; doi:10.1038/s41467-026-72485-7 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.
Koopman global linearization of contact dynamics for robot locomotion and manipulation enables elaborate control
H. H. Asada