paper: Cyber Blue 234 - Swerve Implementation Presentation

[Matt Goelz]

Originally Posted by Ether

On Page 11 of the presentation, it states that "low traction wheels are required" for holonomic drive. Could you please clarify what you meant by this?

All this really means is that if you are trying to execute any omnidirectional drive other than swerve, you will have to use omni wheels or the likes of them. However with the swerve drive you can use any wheel you want: roughtop, wedgetop, rubber, plastic, etc. This is how you can have better traction than other holonomic drives.

It kinda refers back to the point of "the wheels have to slip for the system to move" under the holonomic drive column on that same page.

I did not contribute to this presentation but I was involved in the brainstorming, choosing, and testing of this project. This point came up a lot when we were discussing what type of holonomic drive to test.

I hope this helps.