Automatic Snake Gait Generation Using Model Predictive Control

In this paper, we propose a method for generating undulatory gaits for snake robots. Instead of starting from a pre-defined movement pattern such as a serpenoid curve, we use a Model Predictive Control approach to automatically generate effective locomotion gaits via trajectory optimization. An impo...

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Bibliographische Detailangaben

Hauptverfasser:	Hannigan, Emily, Song, Bing, Khandate, Gagan, Haas-Heger, Maximilian, Yin, Ji, Ciocarlie, Matei
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science - Robotics
Online-Zugang:	Volltext bestellen
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