Behind the Bumpers | 179 children of the Swamp With 2 regional wins this season 179 Children of the Swamp continually brings inspiring robots each season. We really like their articulating wrist intake and transfer and smooth elevator allowing 179 to achieve quick cycles. Hear more about this Charged Up robot on Behind the Bumpers.


Does the same motor that drives the wheels on the end effector also open and close the claw with the one-way bearing?

I’m not from 179, but from what I’ve heard from their drive team at regionals, that motor drives both the wheels and the claw articulation.


Yes the neo 550 on the scoring mechanism spins the intake wheels when we turn it clockwise but thanks to the one way bearing when we turn it counterclockwise it opens the scoring mechanism.


Easily some of the coolest engineering I got to see in Houston this year. Loved checking it out.


I had another question: what was the reason to rotate the elevator using the linkage instead of simply direct driving it with something like a sprocket on the pivot axis?

The engineering behind this was really fun to watch.
It’s too bad champs is so busy that we dont really have time to visit many teams and see their robots, prior to practice matches.

WOW that thing is fast!!!
Very impressive!
Probably the quickest cone handoff I’ve seen this yr.
What material is that partial herring bone gear on the wrist done in?
How are the two angled side mounted Limelights used?

Do you have any pictures on how you implemented this or maybe an up close video of it working. I love this idea and would really like to see more of it.

The linkage allowed us to be over center and “locked in” in both our upright and scoring angle, eliminating loading on the motor/gearbox at these two positions where we spend most of our time providing a very low backlash, efficient and repeatable solution for that axis.


The larger herringbone gear on the claw is regular PLA, the smaller mating gear is Markforged Onyx.

The two limelight’s are used with the Limelight software to track the April tags and update our pose estimate for automated scoring, which is used for all cone and cube placements during auto and teleop. We use a set of rules based on what each camera had in its field of view and our current pose to determine which camera, if any, had the best information for an accurate update. We ended up with the two limelights experimentally as it allowed us to always have one camera with two apriltags in view at all scoring positions which gave us the accuracy required to automate our scoring.


One feature of this robot i thought was super cool when i saw it at rcr was the custom bevel they have for their claw, it’s really interesting and cool