Quote:
Originally Posted by Andrew Lawrence
You are correct that the lack of horizontal traction allows you to keep moving forward, but you don't just slip by because of the friction between the bumpers. What ends up happening is the pin starts moving in a circle due to the bumper friction pushing perpendicular to where the robot is driving away.
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Watch 33 in MSC Finals (
https://www.youtube.com/watch?v=iTV77XLXB0Q). both 67 and 74 attempt to get them stuck in a t-bone multiple times, and the most successful attempts, 67 at 2:14 and 74 at 2:25, result in them getting turned a bit, but not dragged into a circular pin. Maybe it's just amazing driving, but I think their omni wheels play a pretty big role in it.
One last thing, if a mechanical part fails on you, sometimes you can get a little bit of noise back into it by yelling at it, kicking it, or pounding on it with your fist. This might put enough back into it so it will work for a few more minutes. - KenWittlief [more] 
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