Koopman global linearization of contact dynamics for robot locomotion and manipulation enables elaborate control
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arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866918192398467072 |
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| author | O'Neill, Cormac Terrones, Jasmine Asada, H. Harry |
| author_facet | O'Neill, Cormac Terrones, Jasmine Asada, H. Harry |
| contents | Controlling robots that dynamically engage in contact with their environment is a pressing challenge. Whether a legged robot making-and-breaking contact with a floor, or a manipulator grasping objects, contact is everywhere. Unfortunately, the switching of dynamics at contact boundaries makes control difficult. Predictive controllers face non-convex optimization problems when contact is involved. Here, we overcome this difficulty by applying Koopman operators to subsume the segmented dynamics due to contact changes into a unified, globally-linear model in an embedding space. We show that viscoelastic contact at robot-environment interactions underpins the use of Koopman operators without approximation to control inputs. This methodology enables the convex Model Predictive Control of a legged robot, and the real-time control of a manipulator engaged in dynamic pushing. In this work, we show that our method allows robots to discover elaborate control strategies in real-time over time horizons with multiple contact changes, and the method is applicable to broad fields beyond robotics. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_06515 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Koopman global linearization of contact dynamics for robot locomotion and manipulation enables elaborate control O'Neill, Cormac Terrones, Jasmine Asada, H. Harry Robotics Dynamical Systems Controlling robots that dynamically engage in contact with their environment is a pressing challenge. Whether a legged robot making-and-breaking contact with a floor, or a manipulator grasping objects, contact is everywhere. Unfortunately, the switching of dynamics at contact boundaries makes control difficult. Predictive controllers face non-convex optimization problems when contact is involved. Here, we overcome this difficulty by applying Koopman operators to subsume the segmented dynamics due to contact changes into a unified, globally-linear model in an embedding space. We show that viscoelastic contact at robot-environment interactions underpins the use of Koopman operators without approximation to control inputs. This methodology enables the convex Model Predictive Control of a legged robot, and the real-time control of a manipulator engaged in dynamic pushing. In this work, we show that our method allows robots to discover elaborate control strategies in real-time over time horizons with multiple contact changes, and the method is applicable to broad fields beyond robotics. |
| title | Koopman global linearization of contact dynamics for robot locomotion and manipulation enables elaborate control |
| topic | Robotics Dynamical Systems |
| url | https://arxiv.org/abs/2511.06515 |