Non-impulsive Contact-Implicit Motion Planning for Morpho-functional Loco-manipulation
<|reference_start|>Non-impulsive Contact-Implicit Motion Planning for Morpho-functional Loco-manipulation: 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 for fixed-shape lateral rolling trajectories that demonstrate the object manipulation.<|reference_end|>
@article{salagame2024non-impulsive,
    title={Non-impulsive Contact-Implicit Motion Planning for Morpho-functional
  Loco-manipulation},
    author={Adarsh Salagame, Kruthika Gangaraju, Harin Kumar Nallaguntla, Eric
  Sihite, Gunar Schirner, Alireza Ramezani},
    journal={arXiv preprint arXiv:2404.08714},
    year={2024},
    archivePrefix={arXiv},
    eprint={2404.08714},
    primaryClass={cs.RO cs.SY eess.SY}
}