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.
A Unified Framework for Multi-Contact Path Planning in the Rolling Robot Systems
Geometric Mechanics and Mechatronics in Robotics (gm 2 R) Lab, School of Engineering, Cardiff University（机器人几何力学与机电学实验室，工程学院，卡迪夫大学）；Information Science and Engineering Department, Ritsumeikan University（信息科学与工程系，立命馆大学）
SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain
The University of Edinburgh（爱丁堡大学）；Ewha Womans University（梨花女子大学）；LAAS-CNRS（法国国家科学研究中心分析与系统结构实验室）；Université de Toulouse（图卢兹大学）；University of Trento（特伦托大学）
Combining Sampling- and Gradient-based Planning for Contact-rich Manipulation
Politecnico di Milano（米兰理工大学）；Istituto Dalle Molle di Studi sull’Intelligenza Artificiale (IDSIA)（达勒·莫勒人工智能研究所）；Scuola Universitaria Professionale della Svizzera Italiana (SUPSI)（瑞士意大利语区应用科学大学）；Università della Svizzera Italiana (USI)（瑞士意大利语区大学）；Fraunhofer IPK（弗劳恩霍夫制造工程和自动化研究所）
Contact-Aware Motion Planning Among Movable Objects
Cheng Kar-Shun Robotics Institute, The Hong Kong University of Science and Technology（香港科技大学郑家纯机器人研究所）；Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University（浙江大学控制科学与工程学院系统控制研究所）；Huzhou Institute, Zhejiang University（浙江大学湖州研究院）
Distilling Contact Planning for Fast Trajectory Optimization in Robot Air Hockey
Idiap Research Institute（Idiap研究 institute）；École Polytechnique Fédérale de Lausanne（瑞士联邦理工学院）；Intelligent Autonomous Systems, TU Darmstadt（智能自主系统，德累斯顿技术大学）；German Research Center for AI (DFKI)（德国人工智能研究中心）；Centre for Cognitive Science, Hessian.AI（认知科学中心，Hessian.AI）
Modelling and Path Planning of Snake Robot in cluttered environment
Visvesvaraya National Institute of Technology（维斯瓦拉亚国家理工学院）；Carnegie Mellon University（卡内基梅隆大学）；Inbitorobotics（Inbitorobotics公司）；Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人研究所）
Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion
Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM), Germany（慕尼黑机器人与机器智能研究所（MIRMI）、慕尼黑技术大学（TUM））；Tandon School of Engineering, New York University (NYU), USA（纽约大学Tandon工程学院）
Learning feasible transitions for efficient contact planning
Mohamed bin Zayed University of Artificial Intelligence (MBZUAI)（穆罕默德·本·扎耶德人工智能大学（MBZUAI））；Munich Institute of Robotics and Machine Intelligence, Technical University of Munich（慕尼黑工业大学慕尼黑机器人与机器智能研究所）
Bi-Level Optimization for Contact and Motion Planning in Rope-Assisted Legged Robots
Dipartimento di Ingegneria e Scienza dell’Informazione (DISI), University of Trento（工程与信息科学系（DISI），特伦托大学）；Inria, Université de Lorraine, CNRS（法国国家信息与自动化技术研究院（Inria）、洛林大学、法国国家科学研究中心（CNRS））
Direct Contact-Tolerant Motion Planning With Vision Language Models
State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC), University of Macau（物联网智能城市国家重点实验室，澳门大学）；Shenzhen Institutes of Advanced Technology (SIAT), Chinese Academy of Sciences（深圳先进技术研究院，中国科学院）；Department of Electrical and Computer Engineering, The University of Hong Kong（香港大学电子与计算机工程系）
Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences
Department of Advanced Robotics, Istituto Italiano di Tecnologia（意大利技术研究院先进机器人部）；Robot Learning and Interaction Group, Idiap Research Institute（伊迪普研究所机器人学习与交互小组）
Compliant In-hand Rolling Manipulation Using Tactile Sensing
Center for Robotics and Biosystems and the Department of Mechanical Engineering, Northwestern University（机器人与生物系统中心和机械工程系，西北大学）；Northwestern Institute on Complex Systems (NICO)（复杂系统研究所（NICO））
Design of an In-Pipe Robot with Contact-Angle-Guided Kinematic Decoupling for Crosstalk-Suppressed Locomotion
Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州）机器人与自主系统学域）；Department of Engineering, Shinshu University（信州大学工学部）；College of Information Science and Technology, Beijing University of Chemical Technology（北京化工大学信息科学与技术学院）
