[Donut]

Originally Posted by lcoreyl

Q. Is the 54 inch envelope diameter (figure 3-5) orientation sensitive ie is its axis always vertical regardless of the robots axis ie such as when the robot climbs?

A. The vertical cylinder specified in [G23] is not coupled with the ROBOT'S orientation and is always vertical.


Q. Rule G22 places height restrictions "in relation to the ROBOT." Does this apply to G23 (horizontal restrictions)? When climbing the pyramid, extending an appendage "out" from the robot but "up" in space might extend past the cylinder if it is taken relative to the robot, as opposed to the ground.

A. The height requirement in [G22] is relative to the ROBOT. The horizontal volume requirement of [G23] is relative to the FIELD (see answer to Q15 ).

The way I'm interpreting these rulings would imply that a robot that intentionally flipped onto one side could legally extend to infinite height since the restrictions of G22 would now be rotated to constrain the robot horizontally relative to the field (this assumes the robot does not tip over in a location that would invoke G26).