[mehrkam]

I have not read through all the threads, but many 6 WD drives drop the center wheels to rock back and forth. This is typically in the robot 101 build stuff.

Instead we raise the front wheels and shift the CG towards the back. This allows the robot to turn on a smaller profile. There is no rocking motion except for fast stops. The height that you raise the front wheels will depend on the wheels that you use.

Good luck for those continuing to St. Louis.