Non-impulsive Contact-Implicit Motion Planning for Morpho-functional Loco-manipulation
Robotics
2024-04-16 v1 Systems and Control
Systems and Control
Abstract
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 for fixed-shape lateral rolling trajectories that demonstrate the object manipulation.
Cite
@article{arxiv.2404.08714,
title = {Non-impulsive Contact-Implicit Motion Planning for Morpho-functional Loco-manipulation},
author = {Adarsh Salagame and Kruthika Gangaraju and Harin Kumar Nallaguntla and Eric Sihite and Gunar Schirner and Alireza Ramezani},
journal= {arXiv preprint arXiv:2404.08714},
year = {2024}
}
Comments
arXiv admin note: substantial text overlap with arXiv:2404.08174