[KrazyCarl92]

Our 2010 robot used a 4 wheel swerve drive with 2 modes. One mode is strictly translating in a crab drive mode, but the other is with the wheels straight operating as a wide base 4WD. It uses 6" FIRST wheels. Here's a video of it playing breakaway:

http://www.youtube.com/watch?v=LvHBv...yer_embedded#!

When the robot is moving sideways that won't give you a good idea about the maneuverability of what you are thinking of. But when the robot is moving strictly forward/backward and turning, that is exactly the type of maneuverability you are interested in seeing! It may be tough looking at the video for the first time to differentiate between when its in swerve vs. tank mode, but it's there!