Ground clearance

[AdamHeard]

Originally Posted by tim-tim

Except that we didn't have the rock due to the location of our CG. The only times we used the front wheels (raised front) were to start the process of crossing the bump and when entering/exiting the ramp.

But I understand what you are saying though. But why would you want a robot with a CG + acceleration that would allow rocking in normal situations? Is there too much variance in when it does or does not teeter to be able to predict what axis the robot will turn about?

We chose this design for stability reasons. We always sit on our rear wheels. Likewise we always turned about the same point.

I guess it is just design intent.

I'm saying the reason you didn't rock has nothing to do with your different wheel configuration, and everything to do with CG. Your drive is pretty much a drop center 6wd. You still have two 4wd bases, but primarily drive one one. This is true for most 6wd's. We bias weight on all of ours to get a more consistent turning center.

I'm not saying your decision was a bad one, we did the same thing in 2009; Just clarifying for the lesser informed people reading that there isn't some holy grail difference here.