Automatic Snake Gait Generation Using Model Predictive Control
Emily Hannigan,Bing Song,Gagan Khandate,Maximilian Haas-Heger,Ji Yin,Matei Ciocarlie,Emily Hannigan,Bing Song,Gagan Khandate,Maximilian Haas-Heger,Ji Yin,Matei Ciocarlie
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 (MPC) approach to automatically generate effective locomotion gaits via trajectory optimization. An important advantage of this approach is that the resulting gaits are automatically adapted to the ...
