Does Medicare cover the cost of a ramp?

Could you please clarify if Medicare, the federal health insurance program for people aged 65 and older, as well as certain disabled individuals, typically covers the expense of installing a ramp in a residence? I'm interested in understanding if this type of home modification, often necessary for accessibility purposes, falls under the umbrella of medical equipment or services that Medicare might reimburse. It would be helpful to know if there are any specific guidelines or criteria that determine eligibility for such coverage.