[sciguy125]

I couldn't come up with any pictures, but our 6wd performed much much better than expected. There was no noticable jumping as our previous drivetrain (4wd with pneumatic wheels). We also couldn't believe how smooth it drove. We had solid wheels with SBR rubber as traction material. It was also extraordinarily low. I think that the clearance between the bottom of the chassis and the ground was just over 1/4". There wasn't enough room to get your fingers under it.

We were considering lowering the middle wheels as most everyone else does, but we didn't want constant rocking. We decided to raise the front wheels. If your weight is distributed correctly, this makes it so that the robot stays level under normal conditions. If your weight happens to shift forward (arm sticking out or picking something up), you start resting on the front set of wheels. The problem with lowering the middle wheels is that you are never level (unless you're balanced on the center wheels).

I realize that you wanted input for a tall robot, but I think this would still work. As long as the chassis itself is stable, I have a feeling that it'll keep the rest of the robot stable. (Or at least more stable than it otherwise would be)