Quote:
Originally Posted by Michael Yeh
Drivebase at 0:44
Looks like the colsons dig in when they get pushed, using the drop center tilt rather than an active piston to actuate the "butterfly" mechanism.
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Actually, there is a picture at 0:45 that shows a pneumatic actuation on one set of colsons so I think it's actuated to push down the colsons. By dropping one set of wheels the robot will shift up on to the other set as well and pull all 5 omni wheels off the ground.
Now that I have had all of 20 minutes to think about this, this is a pretty brilliant drivetrain. Advantages of butterfly, H-drive, and west coast all rolled into one. I really hope this works well as I might be taking some inspiration from this in the future.