The following parts were previously part of RoboGen, but have been removed to reduce the number of components in order to simplify the system (e.g. cardans can be creating with 2 hinges) and make evolution more interesting (wheels are boring!).
Additionally, previous versions of the system used a slightly larger Core Component / Fixed Brick that allowed attaching other components on all 6 sides.
If you are interesting in adding some/all of these components back into the system get in touch with us on the Google group.
Active or passive cardan
Both wheels and wheg have a parametric radius that can be chosen between 4 and 8 centimeters. For the motors, the speed corresponds to velocity, not position.
Active or passive wheel
|Note that the servo of the active wheel takes up a lot of space. You will not obtain symmetric structures with passive wheels!
|The main motivation behind the wheg was the use in rough terrain, a scenario that has been removed due to simulator limitations.
|The touch sensor body part is composed of two touch sensors, each covering half the surface of the part. Each sensor is implemented as a Hall effect sensor, a Allegro A1121. The output is digital.