[icyplanetnhc]

Smooth turning has been a challenge for our robot this year. We noticed that unlike our 6-wheel tank drivetrain, several teams have been able to create 6WD with butter-smooth turning. We recognized that our off-center CG degraded our turning abilities. However, I feel that there should be another cause that adds to the "jumpiness" of our turns. My prime suspect is the moment of inertia, both about the turning axis and the middle wheels. Suppose that you have a robot with a fairly well-centered CG. Will large or small moment of inertia about the turning axis result in smoother turning performance?