Kruthika Gangaraju — accepted AI-conference papers

2025

Vision-Guided Loco-Manipulation with a Snake Robot

Adarsh Salagame, Sasank Potluri, Keshav Bharadwaj Vaidyanathan, Kruthika Gangaraju, Eric Sihite, Milad Ramezani +1

IROS 2025

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

Cited by 0 Source ↗Scholar ↗

2024

Heading Control for Obstacle Avoidance using Dynamic Posture Manipulation during Tumbling Locomotion

Adarsh Salagame, Kruthika Gangaraju, Eric Sihite, Gunar Schirner, Alireza Ramezani

IROS 2024

Passive tumbling structures are energy efficient, but often sacrifice control authority due to their under actuated nature. Unlike many passive tumbling robots, Northeastern University’s COBRA is a snake robot with eleven articulated joints that transforms into a wheel-like structure with a high deg

Cited by 3 Source ↗Scholar ↗

2024

Loco-Manipulation with Nonimpulsive Contact-Implicit Planning in a Slithering Robot

Adarsh Salagame, Kruthika Gangaraju, Harin Kumar Nallaguntla, Eric Sihite, Gunar Schirner, Alireza Ramezani

IROS 2024poster

Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through locomotion, referred to as loco-manipulation. The following work pres…

Cited by 2 Source ↗Scholar ↗