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Non-impulsive Contact-Implicit Motion Planning for Morpho-functional Loco-manipulation | IEEE Conference Publication | IEEE Xplore

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


Abstract:

Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake rob...Show More

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.
Date of Conference: 15-19 July 2024
Date Added to IEEE Xplore: 22 August 2024
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Conference Location: Boston, MA, USA

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