Reduced-Order Model-Based Gait Generation for Snake Robot Locomotion Using NMPC

Adarsh Salagame; Eric Sihite; Milad Ramezani; Alireza Ramezani

ICRA 20250 citations

Reduced-Order Model-Based Gait Generation for Snake Robot Locomotion Using NMPC

Adarsh Salagame, Eric Sihite, Milad Ramezani, Alireza Ramezani

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.

BibTeX

@inproceedings{icra2025_reducedordermode,
  title = {Reduced-Order Model-Based Gait Generation for Snake Robot Locomotion Using NMPC},
  author = {Adarsh Salagame and Eric Sihite and Milad Ramezani and Alireza Ramezani},
  booktitle = {ICRA 2025},
  year = {2025}
}