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Loco-Manipulation with Nonimpulsive Contact-Implicit Planning in a Slithering Robot

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arxiv 2404.08174 v1 pith:JELM5W3Z submitted 2024-04-12 cs.RO cs.SYeess.SY

Adarsh Salagame , Kruthika Gangaraju , Harin Kumar Nallaguntla , Eric Sihite , Gunar Schirner , Alireza Ramezani This is my paper · ORCID
classification cs.ROcs.SYeess.SY
keywords loco-manipulationapproachlocomotionmanipulationobjectplanningrobotsnake
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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 and experiments to demonstrate the effectiveness of our approach.

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Cited by 1 Pith paper

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  1. Optimal Trajectory Planning in a Vertically Undulating Snake Locomotion using Contact-implicit Optimization

    cs.RO 2025-08 conditional novelty 4.0 of 10

    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...

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