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

Crossref DOI link: https://doi.org/10.1038/s41467-026-72485-7

Published Online: 2026-06-19

Update policy: https://doi.org/10.1007/springer_crossmark_policy

Authors

O’Neill, C. https://orcid.org/0000-0002-7324-1919
Terrones, J. https://orcid.org/0000-0002-9545-8609
Asada, H. H. https://orcid.org/0000-0003-3155-6223
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Text and Data Mining valid from 2026-06-19

Accepted Manuscript valid from 2026-06-19
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Article History

Received: 26 June 2025

Accepted: 13 April 2026

First Online: 19 June 2026

Competing interests

: The authors declare no competing interests.