[GeeTwo]

The idea here is that you rotate all of the wheels to point in the same direction at the same time, and go at the same speed all the time - mechanically linked, perhaps driven off a single chain. The "base drive" system effectively only translates, never rotates, so there is effectively no wheel slippage on a flat surface. Then, a "superstructure", including the manipulators and the entire electrical system, rotates relative to the "base drive". Note that it would be reasonable to provide high and low gears using a single shifter, since there is already a single mechanical axle (drive for the chain) for all drive energy. The base drive would essentially work like one big swerve module with multiple wheels.