Non-impulsive Contact-Implicit Motion Planning for Morpho-functional Loco-manipulation
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arXiv
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| Hauptverfasser: | , , , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866929313170849792 |
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| author | Salagame, Adarsh Gangaraju, Kruthika Nallaguntla, Harin Kumar Sihite, Eric Schirner, Gunar Ramezani, Alireza |
| author_facet | Salagame, Adarsh Gangaraju, Kruthika Nallaguntla, Harin Kumar Sihite, Eric Schirner, Gunar Ramezani, Alireza |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_08714 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Non-impulsive Contact-Implicit Motion Planning for Morpho-functional Loco-manipulation Salagame, Adarsh Gangaraju, Kruthika Nallaguntla, Harin Kumar Sihite, Eric Schirner, Gunar Ramezani, Alireza Robotics Systems and Control 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. |
| title | Non-impulsive Contact-Implicit Motion Planning for Morpho-functional Loco-manipulation |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2404.08714 |