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
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Active rotator
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Wheels
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!
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Active wheg
The main motivation behind the wheg was the use in rough terrain, a scenario that has been removed due to simulator limitations.
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Sensors
Touch sensor
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 (Allegro A1121). The output is digital.
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Details for robot text files
| Image | Part name | Code | Arity | Motors | Sensors | Image | Part name | Code | Arity | Motors | Sensors |
|---|---|---|---|---|---|---|---|---|---|---|---|
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Active Cardan Joint (ActiveCardan) |
K | 1 | 2 | 0 |  |
Passive Cardan Joint (PassiveCardan) |
C | 1 | 0 | 0 |
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Active Rotator Joint (Rotator) |
R | 1 | 1 | 0 |  |
Passive Wheel (PassiveWheel) |
W | 0 | 0 | 0 |
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Active Wheg (ActiveWheg) |
G | 0 | 1 | 0 |  |
Active Wheel (ActiveWheel) |
J | 0 | 1 | 0 |
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Touch Sensor (TouchSensor) |
T | 0 | 0 | 2 (digital) |