[marshall]

Originally Posted by themccannman

The only thing that determines when an object tips over is when it's COM passes outside of it's footprint projected in the direction of gravity (downward).

Yes but I believe the static case for that occurring and the dynamic case are different. When stationary we could pull our robot back to quite a degree without it tipping over but when we attempted to cross defenses the robot turned into a pendulum and it tipped. Adding ankle weights at the four corners prevented it from happening again. Our COM was already low so it wasn't just the COM that needed to be adjusted to fix the tipping issue.