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We used the 4 Wheel Steering in 2002.
The advantages are the extreme maneuverability. Most likely the only robot that can effectively block you is another 4 wheel steering robot. Or you may need the maneuverability for the manipulation which is what 47 used in 2000 to move parallel to the wall while the ball grabber pointed at the wall.
Disadvantages however are the extra motors required for steering, as well as the amount of power you can put down to the ground. Typically the wheels are not super wide or grippy so that you can effectively turn them in place.
To make it easiest we made the drive pieces modular and interchangeable. The steering stayed intact and you only removed the power module with one bolt. It proved to be very effective.
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Robonaut Next Generation Control System Development
2003 GLR Champions (302,67,226)
2003 Buckeye Semi-Finalists(902,494,226)
2002 Nationals QuarterFinalists
2001 West MI QuarterFinalists
2000 GLR Semi-Finalists
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