A Thesis on Loco-Manipulation with Non-impulsive Contact-Implicit Planning in a Slithering Robot
Reviewed by Pith T0 review T1 audit T2 compute T3 formal T4 kernel pith:6WWB5QUYrecord.jsonopen to challenge →
read the original 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. This thesis presents the mathematical framework and show high-fidelity simulation results and experiments to demonstrate the effectiveness of our approach.
This paper has not been read by Pith yet.
discussion (0)
Sign in with ORCID, Apple, or X to comment. Anyone can read and Pith papers without signing in.