蛇形机器人靠视觉实现自主抓运物体，实时定位与控制。
Vision-Guided Loco-Manipulation with a Snake Robot
- 用YOLOv8+立体相机实现目标6自由度位姿实时估计。
- 闭环控制下成功将物体运送到指定位置。
- 适合机器人视觉导航与复杂环境操作研究者。
本文介绍了东北大学蛇形机器人COBRA的视觉引导运动-操作一体化系统开发与集成。系统基于YOLOv8目标检测模型和机载双目相机获取的深度数据，实现实时估计目标物体的6-DOF位姿。提出一种自主检测与控制框架，支持闭环运动-操作，完成将物体运送至指定目标位置的任务。此外，还开展了开环实验，验证了COBRA在实时目标检测与运动-操作任务中的有效性。
原文摘要 · Abstract (English)
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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