Daniel Bruder Brent Gillespie 0001 C. David Remy Ram Vasudevan Modeling and Control of Soft Robots Using the Koopman Operator and Model Predictive Control. 2019 Robotics: Science and Systems https://doi.org/10.15607/RSS.2019.XV.060 conf/rss/2019 db/conf/rss/rss2019.html#BruderGRV19