3 papers
cs.RO2024
A Thesis on Loco-Manipulation with Non-impulsive Contact-Implicit Planning in a Slithering Robot
Kruthika Gangaraju
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…
cs.RO2024
Non-impulsive Contact-Implicit Motion Planning for Morpho-functional Loco-manipulation
Adarsh Salagame, Kruthika Gangaraju, Harin Kumar Nallaguntla +3
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…
cs.RO2024
Loco-Manipulation with Nonimpulsive Contact-Implicit Planning in a Slithering Robot
Adarsh Salagame, Kruthika Gangaraju, Harin Kumar Nallaguntla +3
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…