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Originally Posted by JVN
As you move the wheel from "fast" mode to "torque" mode, do you believe the frictional load caused by sliding the sphere sideways on the carpet will cause issue?
My goal would be to make these as high traction as possible, to get the use out of my torque in the low end. I'm worried that this high traction would seriously impede the movement from high-low and vice versa.
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Nobody said the sideways rotation has to be symmetric around the center of the robot. If the hemispheres are all turned in the same direction, the whole robot will shift a bit to one side, and there won't be any carpet friction problem.