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 for fixed-shape lateral rolling trajectories that demonstrate the object manipulation.

翻译：物体操作在固定基座和移动机械臂的背景下已被广泛研究。然而，蛇形机器人所采用的高自由度运动模态使其能够通过运动实现独特的物体操作，即“运动-操作协同”。本文提出一种基于非冲击式隐式接触路径规划的优化方法，以解决蛇形机器人COBRA的运动-操作协同问题。我们阐述了该数学框架，并展示了固定形状横向滚动轨迹的高保真仿真结果，验证了物体操作的有效性。