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Re: Non-FIRST name for Swerve Drive
By the way there's also some literature on "powered castor" sorts of robots, which is like a swerve except that the wheels are offset from their axes of rotation. This may be interesting if you want to explore the design space of robot locomotion a bit. On the other hand, the results that I've looked at for those didn't seem very interesting for a normal FIRST sort of swerve since a lot of the complexity in their results was due to the existence of the offset.
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