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 and experiments to demonstrate the effectiveness of our approach.
Abstract (translated)
对象的操纵在固定基和移动操作器背景下得到了广泛研究。然而，蛇机器人采用的过度 actuated 运动模式允许通过运动操纵物体，这被称为运动操纵。本文基于非激励性隐式路径规划来解决运动操纵问题，我们的蛇机器人 COBRA。我们提供了数学框架，并展示了高保真度模拟结果和实验，以证明我们方法的有效性。
URL
https://arxiv.org/abs/2404.08174
