Quote:
Originally Posted by Michael Yeh
Looks like 624 just one-upped butterfly/octocanum drive 
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Quote:
Originally Posted by gotgreen
Yes this is a 5 wheel omni drive in one mode and a conventional tank with colsons in the other mode. Transitioning between mode is by shifting the front colsons down lifting the omni wheels off the ground. This entire drivetrain can be built using COTS parts and simple tools (drill press and band saw).
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Very elegant solution! Probably the simplest way to get both high mobility and pushing power.