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

TL;DR

This survey reviews diverse path planning methods for rolling contact systems, highlighting their applications in robotics and manipulation, and discusses future challenges and research directions in this complex field.

Contribution

It provides a comprehensive overview of existing approaches to rolling contact path planning and identifies key challenges and future research opportunities.

Findings

Existing methods are effective in specific applications like robotic manipulation.

Multi-contact and high-dimensional problems remain challenging and underexplored.

Applications span from micro-manipulation to swarm robotics.

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.