Loco-Manipulation with Nonimpulsive Contact-Implicit Planning in a Slithering Robot
<|reference_start|>Loco-Manipulation with Nonimpulsive Contact-Implicit Planning in a Slithering Robot: 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.<|reference_end|>
@article{salagame2024loco-manipulation,
    title={Loco-Manipulation with Nonimpulsive Contact-Implicit Planning in a
  Slithering Robot},
    author={Adarsh Salagame, Kruthika Gangaraju, Harin Kumar Nallaguntla, Eric
  Sihite, Gunar Schirner, Alireza Ramezani},
    journal={arXiv preprint arXiv:2404.08174},
    year={2024},
    archivePrefix={arXiv},
    eprint={2404.08174},
    primaryClass={cs.RO cs.SY eess.SY}
}