Xin Dong

Integrated Design of a Mobile Rigid-Flexible Coupled Snake-Like Manipulator and Diffusion Policy-Based Motion Planning

Conventional snake-like manipulators are plagued by limited mobility, inadequate flexibility, low load-bearing capacity, and inefficient motion planning when operating in constrained 3D environments. To address these challenges, this paper proposes a rigid-flexible coupled mobile snake-like manipulator along with an en...