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Self-Transforming Mobile Robot

[postlink] http://science-video.blogspot.com/2011/08/self-transforming-mobile-robot.html[/postlink] http://www.youtube.com/watch?v=6tD3dsDzbegendofvid [starttext]really nice but i have a question in 2:15 when it stuck how did you program it to know it so it raises the back wheels? [endtext]
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