[Ari423]

This idea will work fine, but why do it? The only thing I can think of is you save the money on one wheel, gearbox, and motor. I can't think of any other benefits. Some negatives are less driving power and less ground contact. A drive like this without actuation will make going over obstacles very hard. If you do want to do this, I would take a look at 1114's notes from this year on how to do a good kiwi drive.