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Originally Posted by Jack Jones
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I remember looking at that whitepaper. I recall that the only thing it said was that the length of the robot should be less that the wheelbase, for the robot to just begin to turn. I will look again to see if there is a method to determine how much force is required by a certain dimensioned robot, with a certain weight and a certain CoF with the carpet, to turn.
[edit: Ok, the equation is there. Great.]