[Dan Richardson]

One of the neat tricks we learned was to offset an 8" pneumatic wheel up slightly from the frisbee center. The wheels inherent compliance would push down slighlty on the frisbee. This downward force helped resist premature lift and kept the wheel in contact with its track. It adds to the overall friction of the system, but it helped on the Robot in three day build.

Can't be sure how effectively this would work on a stiff wheel.