Half drive mode


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:

Naminukas: sloth edition
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