2026
The Actuator Pre-Filtering Approach to Control-Coherent Koopman LQR for Robot Systems Interacting with Compliant Environment
ICRA 2026poster
As a robot makes and breaks contact with environment surfaces, the equations of motion are switched. Task planning and real-time control become challenging as the system traverses multiple regions and switches the governing dynamics. This paper presents a modeling and real-time control methodology f…