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arxiv 2404.08714 v1 pith:7WYXROZP submitted 2024-04-12 cs.RO cs.SYeess.SY

Non-impulsive Contact-Implicit Motion Planning for Morpho-functional Loco-manipulation

Adarsh Salagame , Kruthika Gangaraju , Harin Kumar Nallaguntla , Eric Sihite , Gunar Schirner , Alireza Ramezani This is my paper
classification cs.RO cs.SYeess.SY
keywords loco-manipulationmanipulationobjectlocomotionnon-impulsiveplanningsnakeallows
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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.

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