Optimal Trajectory Planning in a Vertically Undulating Snake Locomotion using Contact-implicit Optimization
Contact-rich problems, such as snake robot locomotion, offer unexplored yet rich opportunities for optimization-based trajectory and acyclic contact planning. So far, a substantial body of control research has focused on emulating snake locomotion and replicating its distinctive movement patterns using shape functions that either ignore the complexity of interactions or focus on complex interactions with matter (e.g., burrowing movements). However, models and control frameworks that lie in between these two paradigms and are based on simple, fundamental rigid body dynamics, which alleviate the challenging contact and control allocation problems in snake locomotion, remain absent. This work makes meaningful contributions, substantiated by simulations and experiments, in the following directions: 1) introducing a reduced-order model based on Moreau's stepping-forward approach from differential inclusion mathematics, 2) verifying model accuracy, 3) experimental validation.
Code (0)
등록된 구현이 없습니다.
Tasks
Trajectory PlanningSimilar Papers 제목 키워드 기반
Non-planar snake gaits: from Stigmatic-starts to Sidewinding
Of the vast variety of animal gaits, one of the most striking is the non-planar undulating motion of a sidewinder. But non-planar gaits are not limited to sidewinders. Here we report a new non-planar mode used as an esca…
Simulation of snakes using vertical body bending to traverse terrain with large height variation
Snake moves across various terrains by bending its elongated body. Recent studies discovered that snakes can use vertical bending to traverse terrain of large height variation, such as horizontally oriented cylinders, a …
FrictionRisk-aware Integrated Task and Motion Planning for Versatile Snake Robots under Localization Failures
Snake robots enable mobility through extreme terrains and confined environments in terrestrial and space applications. However, robust perception and localization for snake robots remain an open challenge due to the prox…
Motion PlanningTask and Motion PlanningAutonomous, Monocular, Vision-Based Snake Robot Navigation and Traversal of Cluttered Environments using Rectilinear Gait Motion
Rectilinear forms of snake-like robotic locomotion are anticipated to be an advantage in obstacle-strewn scenarios characterizing urban disaster zones, subterranean collapses, and other natural environments. The elongate…
NavigateRobot NavigationEnabling Autonomous Navigation in a Snake Robot through Visual-Inertial Odometry and Closed-Loop Trajectory Tracking Control
Snake robots offer exceptional mobility across extreme terrain inaccessible to conventional rovers, yet their highly articulated bodies present fundamental challenges for autonomous navigation in environments lacking ext…
Robot Navigation