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The number one reason we went with 6 wheel drive over belts had to do with the top of the ramp. We were worried that the track drive would be no advantage at the base of the ramp because you're reduced to 2 points of contact per side and at the top it's only one per side. The top also posses the problem of teetering on the top edge, as des a 6 wheel drive robot. We remedied this with a bogey style center wheel that we can control when it is down (for a biased middle wheel) or free to move (terrain follow).
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