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arXiv · 2404.08714

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

Adarsh Salagame·Kruthika Gangaraju·Harin Kumar Nallaguntla·Eric Sihite·Gunar Schirner·Alireza Ramezani
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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.

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Adarsh Salagame, Kruthika Gangaraju, Harin Kumar Nallaguntla, Eric Sihite, Gunar Schirner, Alireza Ramezani. 2024-04-12. Non-impulsive Contact-Implicit Motion Planning for Morpho-functional Loco-manipulation. https://arxiv.org/abs/2404.08714

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