A contact-implicit reduced-order model using Moreau time-stepping roughly reproduces vertical undulation of a snake robot in simulation and hardware, but validation is qualitative and no optimal trajectory planning is actually performed.
Modular snake robot velocity for side- winding gaits,
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
citation-role summary
background 1
citation-polarity summary
fields
cs.RO 1years
2025 1verdicts
CONDITIONAL 1roles
background 1polarities
unclear 1representative citing papers
citing papers explorer
-
Optimal Trajectory Planning in a Vertically Undulating Snake Locomotion using Contact-implicit Optimization
A contact-implicit reduced-order model using Moreau time-stepping roughly reproduces vertical undulation of a snake robot in simulation and hardware, but validation is qualitative and no optimal trajectory planning is actually performed.