New TRO paper on robotic manipulation

Can mobile robots safely manipulate complex articulated robots? Yes! In our recent TRO paper we present a novel manipulation framework based on Sampling-based MPC, with solid stability and safe guarantees using passivity theory and control barrier functions. Kudos to Giuseppe Rizzi and all co-authors Jen Jen Chung, Abel Gawel, Lionel Ott, Roland Siegwart


If you are wondering if also an aerial robot can do the same, check here