Koopman global linearization of contact dynamics for robot locomotion and manipulation enables elaborate control.

O'Neill C, Terrones J, Asada HH

DOI: 10.1038/s41467-026-72485-7
Published: 2026 Jun 19
Container: Nature communications
Publisher: Not recorded
Open access: yes

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Cite this work

BibTeX

@article{allodium:10.1038/s41467-026-72485-7,
  title = {Koopman global linearization of contact dynamics for robot locomotion and manipulation enables elaborate control.},
  author = {O'Neill C and Terrones J and Asada HH},
  year = {2026},
  journal = {Nature communications},
  doi = {10.1038/s41467-026-72485-7},
  url = {https://doi.org/10.1038/s41467-026-72485-7}
}

RIS

TY  - JOUR
TI  - Koopman global linearization of contact dynamics for robot locomotion and manipulation enables elaborate control.
AU  - O'Neill C
AU  - Terrones J
AU  - Asada HH
PY  - 2026
JO  - Nature communications
DO  - 10.1038/s41467-026-72485-7
UR  - https://doi.org/10.1038/s41467-026-72485-7
ER  -

APA

C, O., J, T., & HH, A. (2026). Koopman global linearization of contact dynamics for robot locomotion and manipulation enables elaborate control.. Nature communications. https://doi.org/10.1038/s41467-026-72485-7

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pubmed · retrieved 2026-11-10T14:12:52.101Z