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Non-impulsive Contact-Implicit Motion Planning for Morpho-functional Loco-manipulation by Salagame, Adarsh; Gangaraju, Kruthika; Nallaguntla, Harin Kumar; Sihite, Eric; Schirner, Gunar; Ramezani, Alireza is a scholarly article available to read on EtoBox.

What is Non-impulsive Contact-Implicit Motion Planning for Morpho-functional Loco-manipulation about?

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.

Author

Salagame, Adarsh; Gangaraju, Kruthika; Nallaguntla, Harin Kumar; Sihite, Eric; Schirner, Gunar; Ramezani, Alireza

Published

2024

Language

EN