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.

翻译：物体操作已在固定基座和移动操作器的背景下得到广泛研究。然而，蛇形机器人采用的多驱动移动模式使其能够通过运动实现独特的物体操作，即所谓的移动操作（loco-manipulation）。本文提出了一种基于非脉冲隐式接触路径规划的优化方法，以解决我们设计的蛇形机器人COBRA的移动操作问题。我们阐述了数学框架，并通过高保真仿真结果与实验展示了该方法的有效性。