[Dick Linn]

Quickest way is to lose some traction from one end or the other. Any chance at resurfacing one set of wheels with something slipprier? Possibly the edge profile is very square and sharp, and will snag more than slide when you are trying to pivot sideways. If you can bevel one or both sets of wheels to a more rounded profile it could help. We did the 2:1 gearbox last year and had to combine one pair of the sticky pneumatic Skyway wheels with one pair of the (slipprier) Polyurethane wheels, but it was still very difficult to turn with about an 18 inch wheelbase. It required a different driving style. Sometimes we had to actually reverse one side while driving forward on the other in order to get it to turn. I couldn't get it to turn well while driving normally, but some could do it while another sat on top...on pavement!

Beautiful craftsmanship on your robot, by the way. Love it!