IROS 20250 citations
Vision-Guided Loco-Manipulation with a Snake Robot
Adarsh Salagame, Sasank Potluri, Keshav Bharadwaj Vaidyanathan, Kruthika Gangaraju, Eric Sihite, Milad Ramezani, Alireza Ramezani
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.
BibTeX
@inproceedings{iros2025_visionguidedloco,
title = {Vision-Guided Loco-Manipulation with a Snake Robot},
author = {Adarsh Salagame and Sasank Potluri and Keshav Bharadwaj Vaidyanathan and Kruthika Gangaraju and Eric Sihite and Milad Ramezani and Alireza Ramezani},
booktitle = {IROS 2025},
year = {2025}
}