2024/05/08 by Adarsh Salagame, Eric Sihite, Salagame, Adarsh +5 · 2 citations
Psychology · #Ergonomics and Musculoskeletal Disorders #FOS: Computer and information sciences #FOS: Electrical engineering #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2405.05447
openalex publication_date 2024/05/08 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Passive tumbling uses natural forces like gravity for efficient travel. But without an active means of control, passive tumblers must rely entirely on external forces. Northeastern University's COBRA is a snake robot that can morph into a ring, which employs passive tumbling to traverse down slopes. However, due to its articulated joints, it is also capable of dynamically altering its posture to manipulate the dynamics of the tumbling locomotion for active steering. This paper presents a modelling and control strategy based on collocation optimization for real-time steering of COBRA's tumbling locomotion. We validate our approach using Matlab simulations.