Vision-Guided Loco-Manipulation with a Snake Robot
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arXiv
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| Main Authors: | , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866912290079506432 |
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| author | Salagame, Adarsh Potluri, Sasank Vaidyanathan, Keshav Bharadwaj Gangaraju, Kruthika Sihite, Eric Ramezani, Milad Ramezani, Alireza |
| author_facet | Salagame, Adarsh Potluri, Sasank Vaidyanathan, Keshav Bharadwaj Gangaraju, Kruthika Sihite, Eric Ramezani, Milad Ramezani, Alireza |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_18308 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Vision-Guided Loco-Manipulation with a Snake Robot Salagame, Adarsh Potluri, Sasank Vaidyanathan, Keshav Bharadwaj Gangaraju, Kruthika Sihite, Eric Ramezani, Milad Ramezani, Alireza Robotics 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. |
| title | Vision-Guided Loco-Manipulation with a Snake Robot |
| topic | Robotics |
| url | https://arxiv.org/abs/2503.18308 |