Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through locomotion, referred to as loco-manipulation. The following work presents an optimization approach to solving the loco-manipulation problem based on non-impulsive implicit contact path planning for our snake robot COBRA. We present the mathematical framework and show high-fidelity simulation results and experiments to demonstrate the effectiveness of our approach.
@article{arxiv.2404.08174,
title = {Loco-Manipulation with Nonimpulsive Contact-Implicit Planning in a Slithering Robot},
author = {Adarsh Salagame and Kruthika Gangaraju and Harin Kumar Nallaguntla and Eric Sihite and Gunar Schirner and Alireza Ramezani},
journal= {arXiv preprint arXiv:2404.08174},
year = {2024}
}