3 papers
cs.RO2024
Reinforcement Learning-Based Model Matching in COBRA, a Slithering Snake Robot
Harin Kumar Nallaguntla
This work employs a reinforcement learning-based model identification method aimed at enhancing the accuracy of the dynamics for our snake robot, called COBRA. Leveraging gradient…
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…