Private preview

Under development

This site is not public yet.

Adarsh Salagame

Research Area

Sensing and Estimation

State estimation and perception enabling locomotion, manipulation and other tasks in challenging environments.

Back to overview
Sensing and Estimation

Papers

Related papers

16 listed

[PAPER] Conjugate momentum based thruster force estimate in dynamic multimodal robot
Paper · 2025

[PAPER] Conjugate momentum based thruster force estimate in dynamic multimodal robot

In a multi-modal system which combines thruster and legged locomotion such our state-of-the-art Harpy platform to perform dynamic locomotion. Therefore, it is very important to…
[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] NMPC-Based Unified Posture Manipulation and Thrust Vectoring for Fault Recovery
Paper · 2025

[PAPER] NMPC-Based Unified Posture Manipulation and Thrust Vectoring for Fault Recovery

Multi-rotors face significant risks, as actuator failures at high altitudes can easily result in a crash and the robot’s destruction. Therefore, rapid fault recovery in the event…
[PAPER] Self-Supervised Cost of Transport Estimation for Multimodal Path Planning
Paper · 2025

[PAPER] Self-Supervised Cost of Transport Estimation for Multimodal Path Planning

Autonomous robots operating in real environments are often faced with decisions on how best to navigate their surroundings. In this work, we address a particular instance of this…
[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] Bounding Flight Control of Dynamic Morphing Wings
Paper · 2024

[PAPER] Bounding Flight Control of Dynamic Morphing Wings

Vertebrate flyers perform intermittent flights as bounding or oscillating flights for power management. Intermittent flights and the resulting oscillating height during flapping…
[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] 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] Narrow-Path, Dynamic Walking Using Integrated Posture Manipulation and Thrust Vectoring
Paper · 2024

[PAPER] Narrow-Path, Dynamic Walking Using Integrated Posture Manipulation and Thrust Vectoring

This research concentrates on enhancing the navigational capabilities of Northeastern University’s Husky, a multi-modal quadrupedal robot, that can integrate posture manipulation…
[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] 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] Demonstrating Autonomous 3D Path Planning on a Novel Scalable UGV-UAV Morphing Robot
Paper · 2023

[PAPER] Demonstrating Autonomous 3D Path Planning on a Novel Scalable UGV-UAV Morphing Robot

Some animals exhibit multi-modal locomotion capability to traverse a wide range of terrains and environments, such as amphibians that can swim and walk or birds that can fly and…
[PAPER] Hovering Control of Flapping Wings in Tandem with Multi-Rotors
Paper · 2023

[PAPER] Hovering Control of Flapping Wings in Tandem with Multi-Rotors

This work briefly covers our efforts to stabilize the flight dynamics of Northeatern's tailless bat-inspired micro aerial vehicle, Aerobat. Flapping robots are not new. A plethora…
Paper · 2023

[PAPER] Progress Towards Untethered Autonomous Flight of Northeastern University Aerobat

State estimation and control is a well-studied problem in conventional aerial vehicles such as multi-rotors. But multi-rotors, while versatile, are not suitable for all…
Paper · 2022

[PAPER] Practical Challenges in Landing a UAV on a Dynamic Target

Unmanned Aerial Vehicles grow more popular by the day and applications for them are crossing boundaries of science and industry, with everything from aerial photography to package…
[PAPER] Precision Landing of a UAV on a Moving Platform for Outdoor Applications
Paper · 2022

[PAPER] Precision Landing of a UAV on a Moving Platform for Outdoor Applications

As UAV technology improves, more uses have been found for these versatile autonomous vehicles, from surveillance to aerial photography, to package delivery, and each of these…