[Chinmay]

I think an interesting test would be taking a mesurement of how much the drivetrain "rocks" during a turn. One way to meadure this would be putting a mast on one end the robot, a vertical stick that was 5 feet tall and recording the position of the top of the stick. Any vertical displacement would indicate that perhaps the drivetrain was rocking. For me, a drivetrain with no rocking is desirable.