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Ramp It Up

Ramp It Up. Introductory Presentation. Opening Activity. With a partner, attempt the following: Stand against a wall facing out Have your partner stand in front of you to catch you if needed Be sure your feet and waist are touching the wall the entire time

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Ramp It Up

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  1. Ramp It Up Introductory Presentation

  2. Opening Activity With a partner, attempt the following: • Stand against a wall facing out • Have your partner stand in front of you to catch you if needed • Be sure your feet and waist are touching the wall the entire time • Try to touch your toes without falling over

  3. Opening Activity As you found out, it is impossible to touch your toes. The reason you can’t is because once you bent over you’ve moved your center of mass outside of your support polygon. Don’t worry, we’ll define both of these for you.

  4. Preview: Center of Mass The center of mass is the average position of an object’s weight. Your center of mass is located approximately in the center of your body above your waist.

  5. Preview: Center of Mass Another way to think about center of mass is as the point in an object where: • The mass above the point = the mass below it • The mass in front of the point = the mass behind it • The mass to the left of the point = the mass to its right AND… AND…

  6. Preview: Center of Mass If these weights are all identical, then the center of mass would be where the three lines intersect.

  7. Preview: Support Polygon Your center of mass could move all around with no problem, if it weren’t for its support polygon. A support polygon is the shape formed by connecting all the points where an object touches the ground.

  8. Preview: Support Polygon If you’re standing up, your support polygon is formed by the place your feet touch the ground.

  9. Preview: Support Polygon Suppose you’re on your hands and knees, like a baby. What shape is your support polygon? It would be a square, because each hand and foot touches the ground. So there are four points. Connect them, and you have a square.

  10. Preview Let’s think back to our wall exercise. There, your feet were against the wall and created your support polygon. Your center of mass was above your waist and you were fine.

  11. Preview However, once you bent over you moved everything above your waist, including your center of mass. You lost your balance once your center of mass went outside of your support polygon.

  12. Preview It’s important to consider your robot’s support polygon is, and where its center of mass may go while running. If not, you may end upwith something like this…

  13. Good Luck! Now you have the necessary knowledge to get started in the Ramp It Up Activity.

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