[DominickC]

Here's a picture of a prototype of our drivetrain. In this picture, we've got two in-house made drive wheels on each side, each being run by two CIM's. Eight colsons are being driven via polycord to power us over the barrier. In our final design, we're powering the lower four colsons on each side via a chain, and powering the upper four via a polycord linkage to the bottom four colsons. I'll try to get a picture that shows this setup tomorrow. It's actually pretty cool what our build team came up with, especially the tensioners. We ran the chains which power the four lower colsons thru a piece of PVC.

EDIT: You can sort of see the final setup in the lower right hand side of the picture, thru the hole in the side of the aluminum plate.