[KenWittlief]

Im not sure if this will help any - last year we had a large alum plate in the center of the upper part of our robot, that had pneumatic cylinders attached to it - it went all the way across the 'upper frame'

we changed our bot and took that plate off, and I noticed in our next match our bot was swaying back and forth, looked like it was drunk

back in the pitts I realized that plate had been the only source of diagonal rigidity in the upper frame - always gotta have triangles in any square/boxy type of framework to make the structure stiff and strong

BTW - I also noticed the staggering when the bot was turning - and it was also 4WD.

maybe you need to stiffing up your framework - put diagonal cross members, or reinforce the corners with triangles. If you are planning on putting plastic side covers on, that would stiffin the frame up too.

Only other thing I would say is maybe your center of gravity is too high and you have created a Weeble Bot - can you move your battery lower, or put it horizontal? or move anything else down to lower your center of gravity?

but in the end, if the bot looks like its drunk when it turns, does it really matter? If it works, it works - and if you cant fix it your bot will have a unique charactistic that will lend itself to many names that I can think of off the top of my head:

Otis (from the andy griffin show)
Weeble-Bot (weeble wobbles but he dont fall down)
Sir Osis of Liver
Rocky
.....

:c)