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arXiv · 2503.18308

Vision-Guided Loco-Manipulation with a Snake Robot

Adarsh Salagame·Sasank Potluri·Keshav Bharadwaj Vaidyanathan·Kruthika Gangaraju·Eric Sihite·Milad Ramezani·Alireza Ramezani
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Abstract

This paper presents the development and integration of a vision-guided loco-manipulation pipeline for Northeastern University's snake robot, COBRA. The system leverages a YOLOv8-based object detection model and depth data from an onboard stereo camera to estimate the 6-DOF pose of target objects in real time. We introduce a framework for autonomous detection and control, enabling closed-loop loco-manipulation for transporting objects to specified goal locations. Additionally, we demonstrate open-loop experiments in which COBRA successfully performs real-time object detection and loco-manipulation tasks.

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Adarsh Salagame, Sasank Potluri, Keshav Bharadwaj Vaidyanathan, Kruthika Gangaraju, Eric Sihite, Milad Ramezani, Alireza Ramezani. 2025-03-24. Vision-Guided Loco-Manipulation with a Snake Robot. https://arxiv.org/abs/2503.18308

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