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The only problem with this is that the modules are put under a lot of stress because the outter wheels tend to drag on the carpet when turning. Your Ackerman steering would be very useful for this type of turning as it would stop wheels from turning. The best we could do for this is force the outter wheels to drive faster to keep up and drag less and keep the motors from stalling out. Ackerman steering could be accomplished by using four independently steered crab modules.
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Hmmm... They way they fix that in the monster truck world would be to use a differential because the wheels should be moving at two differnt speeds. Of course you did that using programing. Thanks for the info... Im just not hip to this robotics lingo. Plus I couldn't imagine what a crab would do that would give it this name 
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