Use of wheg?
 

what is your opinion about the use of a suitable weight wheg robot system for this challenge?

Re: Use of wheg?
 

I'd be a little worried about the constant vertical height changes w.r.t. ball handling, but that's probably managable.

Re: Use of wheg?
 

I would be highly concerned about field damage. You've got 150 lbf applying to 4-8 points with very small contact area, and a high chance of sharp edges. This would also be known as "spending a lot of quality time with the inspectors" as you show that no, it won't damage the carpet.

A tri-wheel might be better, or maybe some elastic stretched around would do the trick.

Re: Use of wheg?
 

I would think thick rubber tips would work, especially if they were feet which pivoted freely and laid flush with the floor. Although that greatly increases complexity. I'm also worried about the stresses on the bars themselves, but that's a different conversation.

and a hybrid through the obstacle in wheg mode and then continue in the mode wheel?

and the tips can be round with rubber

Re: Use of wheg?
 

I feel like you are underestimating the fabrication difficulty of this situation, but maybe I'm missing something.

Re: Use of wheg?
 

not at all, I just wanted to see what they think about the use of wheg system in this challenge, nothing more

Re: Use of wheg?
 

I don't know fabricating would be so hard, if it has less curves that is, the hard part is actuating it so that it's "open" when you need it and "closed" when you don't.

Re: Use of wheg?
 

This is a great idea for overcoming most of the defenses. I would caution maintaining a 3" bumper zone with the variation in ride height.
Our team used a unique drive design in 2010 to take on the large bump and didn't take into account the bumper zone which rendered our efforts useless during competition.