Half drive mode

A project log for naminukas

Pneumatic walking, driving, wall climbing and tool using robot

Mykolas JuraitisMykolas Juraitis 08/05/2020 at 09:150 Comments

Recently I have been drying figs on an oven wire grill and realized that a wire grill is quite a difficult terrain for a robot to traverse. I have unsuccessfully tried several approaches and then remembered what I call "half drive" mode. In this way of operation robot tilts one vacuum suction cup to drive mode and one stays on the ground. Tilted cup can drive in a circular trajectory while untilted one provides stability. I originally experimented with such way of locomotion when robot tried to conquer a doorstep but had no success at that time. Now I finally have an application for "half drive" mode: