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Re: 6WD vs 8WD
well, as far as i understand, the goal of having the outer wheels raised is to make them act more like omni wheels. for the purpose of the argument imagine all we care about is drive systems with omni wheels on the corners. in a 6 wheel configuration, 1/3 of the weight is on the traction wheels, and there are 2 of them, in an 8 wheel configuration 1/2 of the weight is on the traction wheels and there are 4 of them. so if the goal of having the outer wheels raised is to make them behave more like omni wheels, in that they can scrub sideways with less resistance, then logic supports that an 8 wheel drive-train will be harder to turn, because there are 4 wheels, and they scrub sideways a little bit, and because there is more of the robots weight on those wheels at any given time.
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