RK-MPC: Residual Koopman Model Predictive Control for Quadruped Locomotion in Offroad Environments

Sriram S. K. S. Narayanan, Umesh Vaidya

This paper presents Residual Koopman MPC (RK-MPC), a Koopman-based, data-driven model predictive control framework for quadruped locomotion that improves prediction fidelity while…