Is the rotation of the non-extending arms motorized or does the robot just tilt from the weight?
Hey Juicestus, great question! Yes the arms are winch driven, and I can explain a bit more of the sequence here;
Our team’s climb uses the center of gravity of the robot in combination with the arm in/out winching actuation to angle the elevator extension plane correctly, which enables the elevator hooks to grab on the next rung. Then we retract the elevator to lift the bot off the arm hooks and reset for the next step.
This was heavily inspired by the Zhoukeeper Ri3D climber! Major kudos to them for figuring out the methodology.
A benefit is we do not need to be swinging to accomplish this, and all the swinging you see in the video is a byproduct of the 0th revision hooks that were painted to look nice ^,^ In actuality the swinging makes our sequence longer, so we’re actively working to damp that out as much as possible.