Robotics paper index
Autonomous Whole-body Loco-manipulation Using a Snake Robot
One-line summary
A robotics research paper on Autonomous Whole-body Loco-manipulation Using a Snake Robot.
Engineering notes
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Chinese explanation / 中文解读
中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。
Original 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 dedicated appendages body segmentation or grippers We present closed-loop loco-manipulation with our snake robot COBRA without this distinction such that any part of the body may make contact We develop a contact-implicit dynamic model unifying robot-ground robot-object and object-ground interactions within a Moreau-Jean time-stepping framework and formulate a trajectory optimization over the full-order dynamics guided 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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