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Unread 04-05-2011, 16:42
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Re: Offseason Project: Holonomic Kiwi Drive Robot

Quote:
Originally Posted by EthanMiller View Post
Bumps and obstructions seem like it's worth planning for - thanks for the info.

However, once those things are under the robot, the 'back' wheel being dragged would still catch on objects, right?
Right, but the moments are different: think of the force relative to the CoG of the robot.
Or consider the the difference between pushing a wheelbarrow over an obstruction vs pulling a trailer over an obstruction. When you are pushing an object there is a tendency to "dig in".

But as Ether shows in detail above, the control scheme is the same - there is rotational symmetry with Kiwi drive, so "forward" is just a convention.
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