2026
Data-Efficient Real-Time Control of an Artificial-Muscle-Driven Continuum Robot With Physics-Informed Koopman Operator
RA-L 2026
Data-driven techniques enable modeling of nonlinear continuum robots directly from input-output data without relying on physics-based modeling. Among these techniques, the Koopman method has been particularly successful as it enables the application of linear optimal control techniques such as model