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Adarsh Salagame

Research Area

Contact-Rich Locomotion

Robots that can manipulate and exploit their contact interactions with the environment for movement and task execution.

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Contact-Rich Locomotion

Papers

Related papers

12 listed

[PAPER] Crater Observing Bioinspired Rolling Articulator (COBRA)
Paper · 2025

[PAPER] Crater Observing Bioinspired Rolling Articulator (COBRA)

NASA aims to establish a sustainable human basecamp on the Moon as a stepping stone for future missions to Mars and beyond. The discovery of water ice on the Moon's craters…
[PAPER] Optimal Trajectory Planning in a Vertically Undulating Snake Locomotion using Contact-implicit Optimization
Paper · 2025

[PAPER] Optimal Trajectory Planning in a Vertically Undulating Snake Locomotion using Contact-implicit Optimization

Contact-rich problems, such as snake robot locomotion, offer unexplored yet rich opportunities for optimization-based trajectory and acyclic contact planning. So far, a…
[PAPER] Vision-Guided Loco-Manipulation with a Snake Robot
Paper · 2025

[PAPER] Vision-Guided Loco-Manipulation with a Snake Robot

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…
[PAPER] Dynamic Posture Manipulation During Tumbling for Closed-Loop Heading Angle Control
Paper · 2024

[PAPER] Dynamic Posture Manipulation During Tumbling for Closed-Loop Heading Angle Control

Passive tumbling uses natural forces like gravity for efficient travel. But without an active means of control, passive tumblers must rely entirely on external forces.…
[PAPER] Heading Control for Obstacle Avoidance using Dynamic Posture Manipulation during Tumbling Locomotion
Paper · 2024

[PAPER] Heading Control for Obstacle Avoidance using Dynamic Posture Manipulation during Tumbling Locomotion

Passive tumbling structures are energy efficient, but often sacrifice control authority due to their under actuated nature. Unlike many passive tumbling robots, Northeastern…
[PAPER] Hierarchical RL-Guided Large-scale Navigation of a Snake Robot
Paper · 2024

[PAPER] Hierarchical RL-Guided Large-scale Navigation of a Snake Robot

Classical snake robot control leverages mimicking snake-like gaits tuned for specific environments. However, to operate adaptively in unstructured environments, gait generation…
[PAPER] How Strong a Kick Should be to Topple Northeastern’s Tumbling Robot?
Paper · 2024

[PAPER] How Strong a Kick Should be to Topple Northeastern’s Tumbling Robot?

Rough terrain locomotion has remained one of the most challenging mobility questions. In 2022, NASA’s Innovative Advanced Concepts (NIAC) Program invited US academic institutions…
[PAPER] Loco-Manipulation with Nonimpulsive Contact-Implicit Planning in a Slithering Robot
Paper · 2024

[PAPER] Loco-Manipulation with Nonimpulsive Contact-Implicit Planning in a Slithering Robot

Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots…
[PAPER] Non-impulsive Contact-Implicit Motion Planning for Morpho-functional Loco-manipulation
Paper · 2024

[PAPER] Non-impulsive Contact-Implicit Motion Planning for Morpho-functional Loco-manipulation

Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots…
[PAPER] Reinforcement Learning-Based Model Matching to Reduce the Sim-Real Gap in COBRA
Paper · 2024

[PAPER] Reinforcement Learning-Based Model Matching to Reduce the Sim-Real Gap in COBRA

This paper employs a reinforcement learning-based model identification method aimed at enhancing the accuracy of the dynamics for our snake robot, called COBRA. Leveraging…
[PAPER] Snake Robot with Tactile Perception Navigates on Large-scale Challenging Terrain
Paper · 2024

[PAPER] Snake Robot with Tactile Perception Navigates on Large-scale Challenging Terrain

Along with the advancement of robot skin technology, there has been notable progress in the development of snake robots featuring body-surface tactile perception. In this study,…
[PAPER] Validation of Tumbling Robot Dynamics with Posture Manipulation for Closed-Loop Heading Angle Control
Paper · 2024

[PAPER] Validation of Tumbling Robot Dynamics with Posture Manipulation for Closed-Loop Heading Angle Control

Navigating rugged terrain and steep slopes is a challenge for mobile robots. Conventional legged and wheeled systems struggle with these environments due to limited traction and…