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koopman operator 1model predictive control 1nonlinear systems 1switching dynamics 1system identification 1

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cs.RO2026

Dynamic robotic cloth folding with efficient Koopman operator-based model predictive control

Edoardo Caldarelli, Franco Coltraro, Adrià Colomé +2

Robotic cloth folding is a challenging task, particularly when considering dynamic folding tasks, which aim at folding cloth by fast motions that leverage its dynamics. When subjec…