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The initial design using a small LEGO wheel on an inverted pendulum was only able to work reliably over a 4-degree angle from the vertical. Upgrading the wheel to a larger, heavier one enabled the ...
Robotics educator and supreme LEGO builder [Yoshihito Isogawa] built a mechanum-wheeled rover that has the angles right: each wheel consists of 12 smaller rubber tires angled at 45 degrees.
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