Rollbot 2: Agile Locomotion by a Single-Actuator Spherical Robot
Rollbot 2: Agile Locomotion by a Single-Actuator Spherical Robot
Rollbot 2 improves upon the original Rollbot by maintaining a single-actuator design while introducing a redesigned mass distribution for more direct movement. It uses onboard inertial and ultra-wideband sensing to autonomously navigate toward beacons and follow waypoints, achieving a 468-meter indoor route at 0.87 m/s and completing a 4.8-meter 'N' benchmark in 10.8 seconds with a mean deviation of 7 cm.
This paper demonstrates significant improvements in the agility and autonomy of a single-actuator spherical robot through mechanical redesign, onboard sensing, and learning-based control. Rollbot 2 achieves faster navigation and path completion compared to its predecessor, with results showing over 70 times speed improvement on a standard benchmark.
Source: arXiv Robotics — research abstracts · Read original article ↗
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What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
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- Reported autonomousOpen source S3
Reported numbers
indoor route distance
468
View original evidence
oward commanded paths and beacon targets. Onboard inertial and ultra-wideband sensing support learned steering, beacon seeking, and waypoint following through one motor-velocity command. Rollbot 2 autonomously approaches UWB beacons without motion capture and completes a 468~m manually commanded indoor route at 0.87~m/s. On the shared 4.8~m ``N'' waypoint benchmark, all 16 trials complete the path with a mean travers
Open source S3route speed
0.87
View original evidence
oward commanded paths and beacon targets. Onboard inertial and ultra-wideband sensing support learned steering, beacon seeking, and waypoint following through one motor-velocity command. Rollbot 2 autonomously approaches UWB beacons without motion capture and completes a 468~m manually commanded indoor route at 0.87~m/s. On the shared 4.8~m ``N'' waypoint benchmark, all 16 trials complete the path with a mean travers
Open source S3waypoint benchmark distance
4.8
View original evidence
oward commanded paths and beacon targets. Onboard inertial and ultra-wideband sensing support learned steering, beacon seeking, and waypoint following through one motor-velocity command. Rollbot 2 autonomously approaches UWB beacons without motion capture and completes a 468~m manually commanded indoor route at 0.87~m/s. On the shared 4.8~m ``N'' waypoint benchmark, all 16 trials complete the path with a mean travers
Open source S3
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
oward commanded paths and beacon targets. Onboard inertial and ultra-wideband sensing support learned steering, beacon seeking, and waypoint following through one motor-velocity command. Rollbot 2 autonomously approaches UWB beacons without motion capture and completes a 468~m manually commanded indoor route at 0.87~m/s. On the shared 4.8~m ``N'' waypoint benchmark, all 16 trials complete the path with a mean travers
Open source S3
Source：arXiv Robotics — research abstracts · arxiv.org