Reduced-Order Model-Based Gait Generation for Snake Robot Locomotion using NMPC
Fuente:
arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866917948591964160 |
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| author | Salagame, Adarsh Sihite, Eric Ramezani, Milad Ramezani, Alireza |
| author_facet | Salagame, Adarsh Sihite, Eric Ramezani, Milad Ramezani, Alireza |
| contents | This paper presents an optimization-based motion planning methodology for snake robots operating in constrained environments. By using a reduced-order model, the proposed approach simplifies the planning process, enabling the optimizer to autonomously generate gaits while constraining the robot's footprint within tight spaces. The method is validated through high-fidelity simulations that accurately model contact dynamics and the robot's motion. Key locomotion strategies are identified and further demonstrated through hardware experiments, including successful navigation through narrow corridors. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_06402 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Reduced-Order Model-Based Gait Generation for Snake Robot Locomotion using NMPC Salagame, Adarsh Sihite, Eric Ramezani, Milad Ramezani, Alireza Robotics Systems and Control This paper presents an optimization-based motion planning methodology for snake robots operating in constrained environments. By using a reduced-order model, the proposed approach simplifies the planning process, enabling the optimizer to autonomously generate gaits while constraining the robot's footprint within tight spaces. The method is validated through high-fidelity simulations that accurately model contact dynamics and the robot's motion. Key locomotion strategies are identified and further demonstrated through hardware experiments, including successful navigation through narrow corridors. |
| title | Reduced-Order Model-Based Gait Generation for Snake Robot Locomotion using NMPC |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2503.06402 |