General Discussions

I assumed the robot was not meant to walk on carpet, but whenever I tried it, the forward movement of one of the feet across the carpet essentially kicks Bittle back. I wondered if it might help to make the heel a large smooth semi-circle but keep the toes ridged. The idea being that when Bittle pushes a leg back, it does so on its toes, but when it moves a leg forward, it's the heel that touches the surface most. Another idea I have yet to explore is what happens if we add wheels on the front legs but not the hind legs, as it also looks like the unintentional bouncing on carpet is partly because front and hind legs are going in opposite directions at the same time, both with friction.