2024
A Constrained Path Following Method for Snake-like Manipulators via Controlled Winding Uncoiling Strategy
ICRA 2024poster
Benefiting from its hyper-redundant structure, the biomimetic snake-like manipulator retains its remarkable flexibility even within confined spaces. However, its motion planning and control pose significant challenges. This paper imitates the winding uncoiling behavior of snakes to achieve controlla…