Team 2102
https://www.youtube.com/watch?v=E3k72RVK8Hk
They use a lot of non traditional materials.
Wood is a great material in some applications. I am not sure if using wood for a swerve drive is the best idea at least not for some key parts that take a lot of load.
I know we built a failed co-axle crab drive in 2010. I can see if i can get some documentation up on that. Its a dark spot in my team.