Quote:
Originally Posted by Adrian Clark
Not necessarily, even if the CG is perfectly centered the robot will always be resting on either set of four wheels. I'm not too sure I understand your logic here, why would the robot not be able to turn in place in your given scenario?
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I think what he was trying to say is that when turning we (The RoboBees) were always on the same set of wheels. We knew exactly what axis the robot would turn about.
However, if the CG of the robot is close enough to center that enables the teetering you know longer have this luxury. The acceleration at the beginning of the turn and throughout could switch which axis you rotate about. Meaning it could be between the front and center wheels, or the rear and center wheels. We knew that every turn would be about a central point with almost no variation.
It is like have a 4WD robot with a wheelie bar with powered wheels.
Again, the application should drive the design. This is just another option to keep in mind.