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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2025
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| Sujets: | |
| Accès en ligne: | https://arxiv.org/abs/2504.11748 |
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| _version_ | 1866916693028110336 |
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| author | Xu, Christopher Y. Yan, Jack Lum, Kathleen Yim, Justin K. |
| author_facet | Xu, Christopher Y. Yan, Jack Lum, Kathleen Yim, Justin K. |
| contents | We present ROCK (Rolling One-motor Controlled rocK), a 1 degree-of-freedom robot consisting of a round shell and an internal pendulum. An uneven shell surface enables steering by using only the movement of the pendulum, allowing for mechanically simple designs that may be feasible to scale to large quantities or small sizes. We train a control policy using reinforcement learning in simulation and deploy it onto the robot to complete a rectangular trajectory. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_11748 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Steerable rolling of a 1-DoF robot using an internal pendulum Xu, Christopher Y. Yan, Jack Lum, Kathleen Yim, Justin K. Robotics We present ROCK (Rolling One-motor Controlled rocK), a 1 degree-of-freedom robot consisting of a round shell and an internal pendulum. An uneven shell surface enables steering by using only the movement of the pendulum, allowing for mechanically simple designs that may be feasible to scale to large quantities or small sizes. We train a control policy using reinforcement learning in simulation and deploy it onto the robot to complete a rectangular trajectory. |
| title | Steerable rolling of a 1-DoF robot using an internal pendulum |
| topic | Robotics |
| url | https://arxiv.org/abs/2504.11748 |