arxivcs.RO2026-06-27
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 substantially harder in multi-contact settings, where multiple bodies roll without slip and the contact states a…