Home BEAM family tree Sitter Squirmer Slider Crawler Turbot Design Gallery Inchworm Tracked 'bot Jumper Roller Walker Swimmer Flier Climber   The BEAM Bestiary is a BEAM Reference Library site.		Turbots TURning roBOTS -- tumbling BEAMbots, not fish Here's a diagram showing the mechanics involved in Turbot motion (drawn some years back by Bjorn Brindefalk): So for a "classic" Turbot, here are the behaviors to aim for: Both arms rotate in a single direction (CCW vs CW) The motor on the "dimmer" face fires It also apparently helps if one arm "stands out" from the body a bit more than the other (so the arms don't tangle in each other).
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