Extreme dynamic symmetry enables omnidirectional and multifunctional robots 文章

arXiv:2605.29254v1 Announce Type: cross Abstract: Symmetry is a central organizing principle in natural systems, yet its use as a unifying design strategy in robotics has largely remained limited to geometric form. We show that symmetry can instead be leveraged at the level of dynamic actuation capability. We introduce dynamic symmetry, the uniformity of a robot's attainable center-of-mass accelerations, and formalize it through a measure coined as dynamic isotropy. Across more than 1000 simulated morphologies, we found that higher dynamic symmetry consistently improved trajectory tracking, task success, robustness, resiliency, and energy efficiency, with the benefits becoming most pronounced as dynamic isotropy approached its theoretical limit. To study this regime systematically, we developed Argus, a family of spherical robots designed to explore the effects of increasing dynamic symmetry.