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DougHogg,
It looks like we are top heavy, but in fact 95 lbs (including battery) of our robot is located below 9 inches. The framework above is basically aluminum tubing, with the exception of one motor.
We have steering wheels that control our circle diameter and dynamic wheel speed control to slow down the inside wheels based on steering angle. This reduces the amount of skid that our robot has when cornering.
-Paul
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