Year: 2025
Type: preprint
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.
Source: arXiv (Cornell University)
Authors: Salagame, Adarsh, Potluri, Sasank, Vaidyanathan, Keshav Bharadwaj, Gangaraju, Kruthika, Sihite, Eric, Ramezani, Milad, Ramezani, Alireza
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W6979344538
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