Version 2.0
Segway RMP – User Guide
20277-00001 aa
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surface (e.g. a counter or table),
the resulting torque is also to
the right. In this case, for the
RMP to drive to the left on its
own, the edge under the table
must raise up to tilt to the left.
This will lift up on the table.
To get the RMP unstuck, an
external force must be applied to
push the RMP’s right edge down,
forcing the wheels to the left. If a
simultaneous command to drive
the RMP back is also applied, the
force required will diminish.
Alternatively, use the E-Stop to
disable the motors.
When the RMP needs to roll over an
obstacle, the CG of the system must
tilt forward over the contact point.
When the tire makes contact with
the obstacle, it stops rolling and the
frame tilts forward. Once the CG is
over the contact point with the
obstacle, the RMP will roll over the
obstacle (provided the obstacle is
small and sufficient traction exists).
Because torque is required to hold
this tilted position, there is a
tendency to overshoot the obstacle.
Approaching obstacles with a small
initial velocity typically helps in
traversing obstacles.
