A Koopman-operator linear model of a quadruped's single-rigid-body dynamics is used in a linear model predictive controller that tracks speeds and rejects pushes on a Unitree Go1.
Representation-free model predictive control for dynamic motions in quadrupeds,
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Koopman Operator Based Linear Model Predictive Control for Quadruped Trotting
A Koopman-operator linear model of a quadruped's single-rigid-body dynamics is used in a linear model predictive controller that tracks speeds and rejects pushes on a Unitree Go1.