Autonomous Whole-body Loco-manipulation Using a Snake Robot
Overview
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.
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Control: reported autonomous
“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”
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- arXiv Robotics — research abstractsSignalAutonomous 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.
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