[themccannman]

Weight definitely has an affect, also the width of your wheels since as far as I've seen no team has discovered a traction material with more friction on carpet than versa wheels or blue food service plaction (can't remember the actual name). Our robot is just at 120lbs, 4 CIM drivetrain, and our wheels are about 2 1/2" wide each and we've been able to push every other robot who's blocked us. I think it's just a combination of small things that add up to make the difference.