Report
A Thesis on Loco-Manipulation with Non-impulsive Contact-Implicit Planning in a Slithering Robot
| العنوان: | A Thesis on Loco-Manipulation with Non-impulsive Contact-Implicit Planning in a Slithering Robot |
|---|---|
| المؤلفون: | Gangaraju, Kruthika |
| سنة النشر: | 2024 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics |
| الوصف: | 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. This thesis presents the mathematical framework and show high-fidelity simulation results and experiments to demonstrate the effectiveness of our approach. Comment: Master's thesis |
| نوع الوثيقة: | Working Paper |
| URL الوصول: | http://arxiv.org/abs/2407.02379 |
| رقم الانضمام: | edsarx.2407.02379 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |