2 papers
cs.RO2026
A Unified Framework for Multi-Contact Path Planning in the Rolling Robot Systems
Qing Yu, Mikhail Svinin, Seyed Amir Tafrishi
Rolling motion planning is challenging because rolling contact imposes nonholonomic constraints and the configuration evolves on a curved manifold. The problem becomes substantiall…
cs.RO2025
A Survey on Path Planning Problem of Rolling Contacts: Approaches, Applications and Future Challenges
Seyed Amir Tafrishi, Mikhail Svinin, Kenji Tahara
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 ar…