Rolling Contact

Rolling contact, the interaction between surfaces where one rolls over another, is a crucial area of robotics research focused on improving locomotion, manipulation, and control. Current research emphasizes developing accurate models of rolling contact, particularly for legged robots and dexterous hands, often incorporating advanced algorithms like 4-DoF optimization and RANSAC for improved accuracy and robustness. This work is driven by the need for more efficient and versatile robots capable of performing complex tasks in diverse environments, impacting fields ranging from humanoid robotics and aerial manipulation to prosthetic design. The development of pressure-sensing control frameworks and biomimetic designs further enhances the capabilities and reliability of these systems.