I'll save Chris and Kevin the work on this one :-) I havn't seen the robot pass the planning stages myself, but if you check out the link below, it answers all those questions. And you gain a hugh advantage by picking both goals up. Instead of a 130 pounds from the robot interacting with the floor, you have the 130 pound robot and two 180 pound goals. It's like trying to push a VW Bug vs a Semi. The semi has the clear advantage. And if they loose enough weight to put the cvt back on, I can pretty much guarentee no one is going to be pushing them around very easily.
http://www.chiefdelphi.com/forums/sh...&threadid=2619