Keep it Upright: Nonprehensile Object Transportation on a Mobile Manipulator

This video accompanies the paper "Keep it Upright: Model Predictive Control for Nonprehensile Object Transportation with Obstacle Avoidance on a Mobile Manipulator", published in IEEE Robotics and Automation Letters (RA-L).
Here we demonstrate nonprehensile object transportation experiments with a mobile manipulator and up to seven balanced objects, various static and dynamic obstacles, and non-coplanar contact.
Researchers: Adam Heins and Angela P. Schoellig
Paper: doi.org/10.110...
Arxiv: arxiv.org/abs/...
Code: github.com/uti...

[@fengliu9837]

amazing

[@thorbenpultke1350]

Nice Research Topic! Really looking forward for the paper, keep going with the good work!