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IJMERR 2022 Vol.11(2): 59-65

Combining Grasping with Adaptive Path Following and Locomotion for Modular Snake Robots

Filippo Sanfilippo
Department of Engineering Sciences, University of Agder (UiA), Grimstad, Norway

Abstract—In this paper, a framework architecture that combines grasping with adaptive locomotion for modular snake robots is presented. The proposed framework allows for simulating a snake robot model with locomotion and prehensile capabilities in a virtual environment. The simulated robot can be equipped with different sensors. Tactile perception can be achieved by using contact sensors to retrieve forces, torques, contact positions and contact normals. A camera can be attached to the snake robot head for visual perception purposes. To demonstrate the potential of the proposed framework, a case study is outlined concerning the execution of operations that combine locomotion and grasping. Related simulation results are presented. 

Index Terms— grasping, locomotion, snake robotics

Cite: Filippo Sanfilippo, "Combining Grasping with Adaptive Path Following and Locomotion for Modular Snake Robots," International Journal of Mechanical Engineering and Robotics Research, Vol. 11, No. 2, pp. 59-65, February 2022. DOI: 10.18178/ijmerr.11.2.59-65

Copyright © 2022 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.