# Viability-Preserving Passive Torque Control

arXiv: https://arxiv.org/abs/2510.03367 · HTML: https://mlsanity.com/paper/2510.03367/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 4 of its 22 references that are in the map.
- First posted on arXiv 3 Oct 2025.

## Builds on (most cited first, 4 of 4)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [CVXPY: A Python-Embedded Modeling Language for Convex Optimization](https://mlsanity.com/paper/1603.00943/) (2016)
- [Control Barrier Functions: Theory and Applications](https://mlsanity.com/paper/1903.11199/) (2019)
- [Constrained Passive Interaction Control: Leveraging Passivity and Safety for Robot Manipulators](https://mlsanity.com/paper/2403.09853/) (2024)

## Abstract (arXiv)

Conventional passivity-based torque controllers for manipulators are typically unconstrained, which can lead to safety violations under external perturbations. In this paper, we employ viability theory to pre-compute safe sets in the state-space of joint positions and velocities. These viable sets, constructed via data-driven and analytical methods for self-collision avoidance, external object collision avoidance and joint-position and joint-velocity limits, provide constraints on joint accelerations and thus joint torques via the robot dynamics. A quadratic programming-based control framework enforces these constraints on a passive controller tracking a dynamical system, ensuring the robot states remain within the safe set in an infinite time horizon. We validate the proposed approach through simulations and hardware experiments on a 7-DoF Franka Emika manipulator. In comparison to a baseline constrained passive controller, our method operates at higher control-loop rates and yields smoother trajectories.