2025/04/16 by Christopher Y. Xu, Jack Yan, Xu, Christopher Y. +5 · 1 voice
Computer Science · #FOS: Computer and information sciences #Robotics (cs.RO) #cs.RO
paper · pdf · doi:10.48550/arxiv.2504.11748
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.