https://www.youtube.com/watch?v=kjJiNckLoww
First movements of a new swerve drive are usually not pretty. This one wasn't too bad.
It weighs in at 52lbs right now, with control system, without battery. A proper battery tray and bumper mounts might take it to 55lbs. It is a little heavy, but we used a lot of bearings. I'm not sure this design will ever see competition, but it was fun to make.
The video has a real good view of the steering system.