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Vision-Guided Loco-Manipulation with a Snake Robot

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arxiv 2503.18308 v1 pith:U67GZVN5 submitted 2025-03-24 cs.RO

Adarsh Salagame , Sasank Potluri , Keshav Bharadwaj Vaidyanathan , Kruthika Gangaraju , Eric Sihite , Milad Ramezani , Alireza Ramezani This is my paper · ORCID
classification cs.RO
keywords loco-manipulationdetectioncobraobjectobjectsrobotsnakevision-guided
verification ladder T0 review T1 audit T2 compute T3 formal
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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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