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[DPRG] Borenstein's UMBMark
Subject: [DPRG] Borenstein's UMBMark
From: Erik Petrich
epetrich at ivorytower.norman.ok.us
Date: Thu May 22 00:58:28 CDT 2008
On Tue, 20 May 2008, dpa wrote:
> This is probably true, but I'm not sure it matters. The "normal"
> three wheeled robot, like the contest entries of Whip by Ron Grant,
> Daphne by Dale Wheat, and Erik's Teeter-Totter, can also be
> easily bumper off course. However, as long as they are accurately
> tracking their locations it doesn't matter. They will correct,
> same as jBot, even if jBot is a little harder to perturb.
I'm not sure I would classify Teeter-Totter as a "normal" three wheeled
robot. The third (non-drive) wheel is just a regular wheel, not a castor,
so it resists sideways motion. My intent was that it statically balance on
just the two drive wheels and that the non-drive wheel only comes into
play when it needs the extra leverage to go uphill or through the deeper
grass (otherwise the drive wheels stand still and the body summersaults
around the axle). By the day of the contest, I hadn't gotten the balance
quite right, so it leaned on the third wheel when stopped or driving
straight forward. However, when executing the turns the balance was close
enough that the third wheel would leave the ground enough not to drag.
(And there's the other matter of the second "third" wheel, so it's really
an unconventional 4 wheeled robot in which only 2 or 3 wheels are active
at once)
Erik
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