arxivcs.RO2026-07-21
Koopman DCM: Unstable Eigenfunctions as Data-driven Representations for Legged Balancing
In legged locomotion, divergent components of motion (DCMs) have emerged as characteristic states for balance control. They isolate the unstable mode of the dynamics but, in existing formulations, apply only to reduced models such as the linear inverted pendulum. In this study, w…