Lateral oscillation and body compliance help snakes and snake robots stably traverse large, smooth obstacles.
Qiyuan FuSean W. GartThomas W. MitchelJin Seob KimGregory S. ChirikjianChen LiPublished in: CoRR (2020)
Keyphrases
- active contours
- active contour model
- external force
- gradient vector flow
- deformable contour
- b spline
- collision free
- snake model
- object boundaries
- mobile robot
- human body
- multi robot
- geodesic active contours
- cooperative
- segmentation method
- smoothness constraint
- robotic systems
- gvf snake
- level set
- level set method
- image segmentation
- vector field
- curve evolution
- region growing
- deformable models
- obstacle detection
- force field
- path planning
- autonomous robots
- human robot interaction
- artificial agents
- robot teams
- industrial robots
- robotic agents
- image processing
- multi robot systems
- multiple robots
- control points
- shape prior
- energy minimization
- robot control
- energy function
- transmission line
- pose estimation
- road extraction
- motion planning
- tactile sensing
- body parts