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Data-Driven Control of Soft Robots Using Koopman Operator Theory

, , , , and . IEEE transactions on robotics, 37 (3): 948-961 (2021)
DOI: 10.1109/TRO.2020.3038693

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The ESA Lunar Robotics Challenge: Simulating operations at the lunar south pole., , , , , , , , , and . J. Field Robotics, 29 (4): 601-626 (2012)Nonlinear System Identification of Soft Robot Dynamics Using Koopman Operator Theory., , and . CoRR, (2018)Selecting gaits for economical locomotion of legged robots., , and . I. J. Robotics Res., 35 (9): 1140-1154 (2016)Nonlinear System Identification of Soft Robot Dynamics Using Koopman Operator Theory., , and . ICRA, page 6244-6250. IEEE, (2019)An Inductance-Based Sensing System for Bellows-Driven Continuum Joints in Soft Robots., , , , , , and . Robotics: Science and Systems, (2017)Hybrid Operational Space Control for Compliant Legged Systems., , , , , and . Robotics: Science and Systems, (2012)Editorial: Assessing Bipedal Locomotion: Towards Replicable Benchmarks for Robotic and Robot-Assisted Locomotion., , , , and . Front. Neurorobot., (2019)A Portable Passive Rehabilitation Robot for Upper-Extremity Functional Resistance Training., , , , and . IEEE Trans. Biomed. Engineering, 66 (2): 496-508 (2019)Modeling and Control of Soft Robots Using the Koopman Operator and Model Predictive Control., , , and . Robotics: Science and Systems, (2019)Design and control of a recovery system for legged robots., , , and . AIM, page 958-963. IEEE, (2016)