[Siri]

When you say "both wheels are actuated", it sounds as if you mean independently actuated--if so, along what line of action?

If not, what we have is a pivoting drivetrain module with two wheels at different gear ratios and diameters. The wheel are indeed drive wheels, powered simultaneously but contacting independently (meaning the treads shown contact the ground one at a time?) The special thing has something to do with changing the 3D position and/or its first derivative with respect to the chassis on which these units are mounted. I feel like it has something to do with being able to turn. As it stands, this seems like it would be really bad at turning--at least versus the work put into it--but it's definitely not swerve...
EDIT: Bryan beat me to #2 and 3 (though he did 3 way better than I did).

All that, and you know what bugs me? that little peg thing inside the triangular pivot axle support. What's up with that thing?