[Kevin Sevcik]

I'd be a little frightened of a non-backdriveable drivetrain. I'd be especially worried about using the WormBox with its standard nylon wormwheel. At the very least, I'd put the robot on some carpet and shove until the wheels gave way to convince myself I wasn't going to shear teeth in a shoving match. I'd really want to run a robot into your robot at a decent clip to make sure the shock load on those gearboxes isn't going to destroy them.