7 dof Snake

Carlos Guestrin                 Dirk Ormoneit

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7 dof Snake

 

7 Degrees of Freedom Snake-like Robot

 

Here we consider a 7 dof snake-like robot with constrained ranges on the joint angles and possible self collisions. The problem is to find a path from these initial and final configurations:

 

 

We can now obtain qualitatively different paths for various constraints on the minimum probability of reaching the goal:

 
Path Success Probability Length Animated Path File
Maximum success probability path 0.96 27.0 AVI File
Restricted shortest path 0.95 24.0 AVI File
Restricted shortest path 0.52 18.3 AVI File
Shortest path 0.11 15.4 AVI File

 

 

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