Year: 2025
Type: preprint
Abstract: This paper presents an optimization-based motion planning methodology for snake robots operating in constrained environments. By using a reduced-order model, the proposed approach simplifies the planning process, enabling the optimizer to autonomously generate gaits while constraining the robot's footprint within tight spaces. The method is validated through high-fidelity simulations that accurately model contact dynamics and the robot's motion. Key locomotion strategies are identified and further demonstrated through hardware experiments, including successful navigation through narrow corridors.
Source: arXiv (Cornell University)
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W6979257810
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