単一アクチュエータ球体ロボットの機敏な移動を実現するRollbot 2

原文アブストラクト

Reducing actuator count simplifies robot hardware but also removes independent inputs for maneuvering. The original Rollbot steered by modulating a quasi-stable helical orbit, but moved slowly and relied on external motion capture. Rollbot 2 preserves the single-actuator design while its redesigned mass distribution enables near-straight rolling and more direct travel toward 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 traversal time of 10.8~s and mean time-averaged deviation of 7~cm. Its fastest traversal takes 8.0~s, over 70 times faster than the original Rollbot's 564~s run despite minor protocol differences. These results show how mechanical redesign, onboard sensing, and learning-based control improve the agility and autonomy of a single-actuator spherical robot.