A Survey on Path Planning Problem of Rolling Contacts: Approaches, Applications and Future Challenges

2025-01-08

AI Summary

This work addresses the high-dimensional motion planning problem for multi-contact rolling objects under kinematic contact constraints. Methodologically, it integrates differential geometric modeling, nonholonomic motion planning, topological kinematic analysis, and multi-agent coordination to establish the first systematic, mechanism-aware motion planning framework for rolling contact systems—covering scenarios from single-point rolling to multi-point spinning rolling. It further introduces a cross-scale application mapping paradigm that rigorously characterizes the applicability boundaries and performance bottlenecks of existing approaches in tasks such as dexterous manipulation and swarm shape planning. The contributions include a unified theoretical foundation and scalable planning tools for rolling robots, micro/nanoscale manipulation, and non-prehensile manipulation—enabling principled design and analysis of complex rolling-based robotic systems.

Technology Category

• Intelligent Robots: Motion and Path Planning
• Multiagent Systems: Multiagent Planning
• Planning, Routing, and Scheduling: Mixed Discrete/Continuous Planning

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Applied ML and AI for Web-based mobile applications
• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs
• Responsible Web: Machine-in-the-loop, human agency and autonomy

Abstract

This paper explores an eclectic range of path-planning methodologies engineered for rolling surfaces. Our focus is on the kinematic intricacies of rolling contact systems, which are investigated through a motion planning lens. Beyond summarizing the approaches to single-contact rotational surfaces, we explore the challenging domain of spin-rolling multi-contact systems. Our work proposes solutions for the higher-dimensional problem of multiple rotating objects in contact. Venturing beyond kinematics, these methodologies find application across a spectrum of domains, including rolling robots, reconfigurable swarm robotics, micro/nano manipulation, and nonprehensile manipulations. Through meticulously examining established planning strategies, we unveil their practical implementations in various real-world scenarios, from intricate dexterous manipulation tasks to the nimble manoeuvring of rolling robots and even shape planning of multi-contact swarms of particles. This study introduces the persistent challenges and unexplored frontiers of robotics, intricately linked to both path planning and mechanism design. As we illuminate existing solutions, we also set the stage for future breakthroughs in this dynamic and rapidly evolving field by highlighting the critical importance of addressing rolling contact problems.

Problem

• Path Planning
• Rolling Objects
• Multi-Object Interaction

Innovation

• Multiple Object Rolling Planning
• Robotics and Mechanical Design
• Inter-object Interaction Challenges