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Unread 17-01-2010, 18:22
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Re: pic: Articulated 6WD prototype

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Originally Posted by GaryVoshol View Post
My interpretation of this is that the BUMPER ZONE moves as the robot moves. It has to be this way, else an ELEVATED robot would move the BUMPERS out of the BUMPER ZONE. So if the robot is tipped or elevated as it goes over the bump, the BUMPER ZONE tips or elevates correspondingly. That means if the articulated wheelbase lowers the wheels, the BUMPER ZONE is measured from those lowered points. Before proceeding with an articulated design, it should be verified with Q&A.
I put in several questions to the Q&A last Thursday, including this one. This is one of two I have yet seen a reply posted against from the GDC.
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Unread 17-01-2010, 21:38
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Re: pic: Articulated 6WD prototype

<r07> The BUMPERS must be located entirely within the BUMPER ZONE when the ROBOT is standing normally on a flat floor,

If you read the last four words in this part of the rule the measurment is when the robot is on a flat floor. This most likely will be done durring inspection on a flat floor. All the robots bumpers will change there hieght durring transition through the bump, thier is no way around it. It also say's you can not articulate the bumpers from the frame but it dose not say anything about articulating the drive wheels.
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Unread 19-01-2010, 12:28
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Re: pic: Articulated 6WD prototype

I like it! I wish our team had decided to do 6 wheel drive... instead we are using a swerve drive which looks promising but very time consuming to build and program.
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Unread 19-01-2010, 14:42
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Re: pic: Articulated 6WD prototype

Quote:
Originally Posted by joeweber View Post
<r07> The BUMPERS must be located entirely within the BUMPER ZONE when the ROBOT is standing normally on a flat floor,

If you read the last four words in this part of the rule the measurment is when the robot is on a flat floor. This most likely will be done durring inspection on a flat floor. All the robots bumpers will change there hieght durring transition through the bump, thier is no way around it. It also say's you can not articulate the bumpers from the frame but it dose not say anything about articulating the drive wheels.
Joe how about a link to a video of your 6 wheeled articulated frame robot that you are currently driving around? I think others would enjoy it.
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Unread 19-01-2010, 18:02
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Re: pic: Articulated 6WD prototype

Video of our test robot with six wheel drive suspension going up a ramp.

http://www.youtube.com/watch?v=xby0S...layer_embedded


Video of our test robot going up a 45 degree ramp.

http://www.youtube.com/watch?v=jQMcw4QNCLI


Link to our web site with pictures of our development.

http://www.team1322.org/ideas.htm
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Unread 19-01-2010, 19:09
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Re: pic: Articulated 6WD prototype

Quote:
Originally Posted by joeweber View Post
<r07> The BUMPERS must be located entirely within the BUMPER ZONE when the ROBOT is standing normally on a flat floor,

If you read the last four words in this part of the rule the measurment is when the robot is on a flat floor. This most likely will be done durring inspection on a flat floor. All the robots bumpers will change there hieght durring transition through the bump, thier is no way around it. It also say's you can not articulate the bumpers from the frame but it dose not say anything about articulating the drive wheels.
Team Update 3 supports this conclusion. Looks like you guys are all set!
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Unread 19-01-2010, 20:20
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Re: pic: Articulated 6WD prototype

We are using a similar idea, we are doing a modified version of the rocker-bogie system. It is similar to what the rovers on mars use. The max angle it can handle is 45degrees and the playing field happens to be a 45degree ramp.
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