Below is what I can tell you, and I'll leave it up to Baker/whoever to explain it in detail. This should keep the thread from getting pushed down too far without an answer.
I don't really know that much about the specifics on the drive base, but I know a little bit. It was a 4 wheeled drive base with a gearbox on each side just like normal. Each gearbox was powered by an Atwood motor and a Fisher Price motor (atleast that's what it was when i saw it). Both sides were also shift on the fly like normal. The wheels they used looked very similar to those small front wheels that you see on shopping carts.
Here are some pictures that I took on Feb. 21, 2004. They aren't the best, but they show a little. I also don't think the wheels in this picture are the exact ones they used, but I may be wrong.
Front Wheel Close-Up
Robot Right Side View
Close Up Side View
Looking Into Robot From Above
Close Up of Gearbox For Ball Suction
Close Up of Gearboxes
Good Side View of Robot
Another Wheel Close Up
Hopefully, someone who's actually on the team this year can do a little better job than me explaining it for you
