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Re: Ground clearance
Additionally, I would suggest against a drop center 6WD layout. Instead, raise the front and place your center of gravity (CG) within the rear 4 wheels. This will allow 4WD maneuverability while having capability of 6WD without the teter-totter effect. The 2012 RoboBees robot "Yow Sting" used a 0.5" raised front and could rotate in place on the back 4 wheels.
As far as ground clearance, the carpet is not necessarily "flat" once you've examined it closely. Often times, there are subfloor variations, carpet kinks from unrolling, and other non-uniformities that may add as much as 0.25" variation.
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