Scaling and G18 Interaction

[Kevin Sevcik]

Originally Posted by jdaming

So as several people have mentioned I was interested in exploring the "just."

The first idea that comes to mind is moving the "tape meausre" inward towards the tower and then using an arm with a roller on the end to create a second contact point against the tower. That would allow the robot to roll up the side of the tower while maintaining a flat orientation.

Other thoughts or ideas?

Where are you thinking of the tape measure in this scenario? Putting it right against the tower probably wouldn't work. Putting it a few inches farther from the tower than the CoM should work, though. If you have a roller higher than the CoM, the force from the roller should provide a balancing torque to keep everything from flipping over. Definitely need to Free Body Diagram it to make sure everything balances, though.

My prior thought was a three point lift, which would guarantee levelness, at the price of much more complication. I like your idea a lot better since we'll likely have something over the bumper for boulder grabbing and defense manipulation anyways.