[brennonbrimhall]

Originally Posted by DampRobot

T bones occur when the usual dynamic of friction in FRC is switched. Usually, friction between the ground and the wheels is static, or rolling, and the friction between bumpers is dynamic (as robots slide off each other, etc). When the bumper-bumper friction becomes static, and the wheel friction of the robot being defended becomes dynamic, then theres a T bone pin going on.

The pinned robot can't escape because they can't move sideways relative to the defending robot (because the bumper friction outweighs the sliding friction on the tires) and it can't move forwards of backwards relative to the pinning robot because it's wheels don't move that way. Its wheels are in constant dynamic friction because it is being pushed from the side, so it's always sliding (whether or not it's wheels are rotating). As soon as the pinned robot stops getting pushed sideways, it can usually get out of the pin.

That implies that bumper construction and design would be critical in a T-bone situation.

How would

• Relative Bumper Height
• Bumper Material
• Robot Center of Gravity

theoretically play into a T-bone situation?