転がりロボットシステムにおける多接触経路計画の統合フレームワーク
A Unified Framework for Multi-Contact Path Planning in the Rolling Robot Systems
球状転がりロボットの多接触経路計画を、モンタナ接触座標と多様体上のボロノイ地図を用いて解く新しいフレームワークを提案した。
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著者: Qing Yu, Mikhail Svinin, Seyed Amir Tafrishi
分類: cs.RO
原文アブストラクト
Rolling motion planning is challenging because rolling contact imposes nonholonomic constraints and the configuration evolves on a curved manifold. The problem becomes substantially harder in multi-contact settings, where multiple bodies roll without slip and the contact states are coupled. This paper presents a new framework for multi-contact path planning in spherical rolling robotics under no-slip constraints. We first derive a compact kinematic model for multi-sphere rolling using Montana's contact-coordinate formulation, where each contact is represented by a stacked five-state vector. Building on this model, we construct a Voronoi-based roadmap directly on the spherical contact manifold, incorporating spherical-cap obstacles and mutual-exclusion regions via on-manifold collision checking, and refine discrete graph paths using manifold-consistent log-exp smoothing. The resulting smoothed surface paths are then lifted to admissible multi-contact rolling motions through the derived Montana kinematics and validated via forward simulation. We further evaluate feasibility and path quality versus trajectory smoothness, Voronoi seed density, and computation time. The proposed framework provides a foundation for extending the method to non-spherical geometries, time-varying obstacle environments, and experimental validation on physical rolling robotic platforms.
