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by this logic, if robot A has 6WD and bulldozes robot B with 6WD, then robot A has just proven their own drivetrain sucks. There’s more to it than this.
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I don't follow you...
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They still have a shiny blue banner they brought home, however.
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How many blue banners have been won with skidsteer and how many with Omni/mechanum?
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How about discussing the actual tradeoffs of swerve vs. tank tractive capabilities instead of saying tipping to 2 wheels is somehow inherent in swerves design? “typically” you are using only half power? Really?
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There are enough other people discussing the tradeoffs on CD, I shouldn't have to regurgitate them.
Yes REALLY! Tipping to two wheels is inherent in every design! This is what allows for the wonders of wheelies! This includes cars during acceleration, ATVs, bobcats- most any wheeled or tracked vehicle exerting a force above the level of the surface it is driving on transfers weight to the rear. I would think this is common knowledge. If you have four motors, one driving each wheel of a swerve drive, as you reduce the normal force on your front two wheels during a pushing contest, then YES you are reducing the tractive power of your machine as the front wheels and hence two of your drive motors lose their effectiveness. In a skidsteer/tank- your wheels and drive motors are all daisy chained together so whatever power is sent to one wheel on one side is sent to all the wheels on that side- if the front wheels are in the air, all your tractive power is sent to your rear wheels thus maintaining the use of all your drive motors and 100% of your tractive power.
http://en.wikipedia.org/wiki/Weight_transfer
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Never built or driven a swerve, but wouldn’t lag depend on how it’s built and programmed? Are you saying it’s impossible to build one with acceptably small lag?
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I'm not saying it's impossible- nothing is impossible. I'm saying your time and driver's cognitive limits would be better spent improving whatever goes on top of the robot and its use rather than sinking your time and resources on being able to move sideways when defensive play is a reality. I'll remember this discussion every time I see a swerve drive do its awkward little "wiggle" when it changes direction to avoid a defensive machine.