Autonomous Whole-body Loco-manipulation Using a Snake Robot
Autonomous Whole-body Loco-manipulation Using a Snake Robot
This paper introduces COBRA, a snake robot capable of autonomous whole-body loco-manipulation where any part of the body serves as both propulsive mechanism and manipulation tool. The authors develop a contact-implicit dynamic model within a Moreau-Jean time-stepping framework and formulate trajectory optimization guided by a geometric planner and nominal proportional controller to push objects to goal locations during sidewinding. Validation is performed on hardware across varied configurations, alongside simulation results for simplified trajectory optimization resolving robot-object and object-ground contacts.
The authors present a closed-loop control framework for a snake robot named COBRA that performs whole-body loco-manipulation without dedicated appendages, validated on hardware and simulation; the abstract describes a contact-implicit dynamic model and trajectory optimization but does not report specific performance metrics or deployment readiness.
Source: arXiv Robotics — research abstracts · Read original article ↗
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ded by a geometric planner and nominal proportional controller to autonomously push an object to a goal location during sidewinding We validate the planner and controller on hardware across varied configurations and present simulation results for a simplified trajectory optimization that resolves robot-object and object-ground contacts
Open source S4
arXiv:2611.09777v1 Announce Type: new Abstract: Snake robots can leverage their hyper-redundant morphology for both locomotion and manipulation through distributed body contact but whole-body loco-manipulation is particularly challenging since the entire body serves simultaneously as propulsive mechanism and manipulation tool Prior work on wheeled legged and snake robot platforms has decoupled these functions through
Open source S2
Source：arXiv Robotics — research abstracts · arxiv.org