Bicycle drive would consist of a swerve module in the front and a free-spinning traction wheel in the back, with the CoG perfect centered on the line connecting the two wheel axles. It would drive like a bicycle.
This seems easy enough to build for some team with a spare swerve module. Has this been done before? If so, anyone have some video of it?
Of course, bicycle drive would be useless for a real competition since it tips far too easily and require constant movement to stay upright. Seems like a fun offseason project though, especially on the software side with auto-balancing code.