Quote:
Originally Posted by tim-tim
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.
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This different method of raising a wheel results in the exact same setup as a regular 6wd. You still have two 4wd bases, and the cg location (+ accleration) determines rock.