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- | Robo Mara Full event in Osaka gathers a number of only two-legged robots that are five battery-charged and measured between 30cm and 44cm tall. The sporting spectacle happens inside a room in Osaka\'s Asia-Pacific trade centre. To test the machines\' durability and maneuverability, all contestants need to take part in a 26.2-mile marathon course in 423 circuits round the room. Some of the robots are autonomous while others become remote-controlled. The machines is going to be able to be charged or repaired as needed. However, they need to wake up themselves whenever they fall over. | + | It is useful to define coordinate frames at suitable points on the structure of the robot to analyse and effect the movements of parts as well as the robot in general. The primary frame, common to any type of robot, is the coordinate frame fixed towards the lower robot. This frame is called as the world coordinate frame or can be called as global coordinate frame. The points inside the workspace are provided within this frame. In spherical robots the other frame is attached for the joint [[http://www.indramat-usa.com/product/tdm-1-2-050-300-w1-000/|TDM 1.2-050-300-W1-000]] between the vertical member as well as the arm. Third frame is attached for the wrist with the robot. |