Tentacle Path Planning

15-494: Cognitive Robotics, Spring 2008
Jonathan Coens

I created a new tentacle robot for use in Tekkotsu and explored path planning algorithms for it. The tentacle robot consisted of 8 servos in series, a camera, and a playpen. I used an RRT algorithm to compute paths between start positions and pre-defined goal positions while avoiding Easter egg shells as obstacles. In the end, the tentacle could aptly path plan around obstacles that do not heavily constrain the workspace.

Robot hardware

Usage information and technical details

Video demos