[EricH]

Originally Posted by Chris is me

I believe all three wheels were turreted.

One of the few pictures in CD-Media that has a reasonably clean shot of their drivetrain: http://www.chiefdelphi.com/media/photos/21750 It looks like they had a mode that would make the robot 2WD plus one pivoting driving wheel--that shot seems to say they've got 2 fixed and one pivot.

But the better shot is http://www.chiefdelphi.com/media/photos/20540, before all that shielding went on. Definitely a 3-wheel swerve.

Fun fact: of the 5 swerve drives on Einstein, only 2 were standard 4WD swerves (71 and 111). 2 were 3WD (67, 16), and one was a 6WD swerve (1625). 2 won the event (67, 111).

I don't remember a single swerve on Einstein in 2006.