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My team (#95) had a lot of success with a design similar to this. Since casters really mess up steering, we used delrin "scrub wheels" instead. They would slip accross the carpet without trouble while still keeping the robot balanced. Since there were no ramps that year (2002) we didn't get our drive wheels lifted off the ground. We had some trouble getting pushed around, but our strategy was outrunning and outmanuvering, so we didn't need to push very much. The robot ended up being very fast and manuverable. Just don't use casters.
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