[Cuog]

For tilting the wheels it could be done quite easily:

have two sets of motors like an average robot this year, then have it drive a shaft that goes to the wheels, make a u-joint and an extending shaft that allows the angles of rotation you need,

the wheels would be on a folding down assembly that would pivot with the u-joint and extend the shaft as it needs, also i would use pneumatic pistons to raise and lower it setting the pressure desired for a certain height and the robot will push the pistons back in, so if you get hit in the front your front wheels begin getting more torque and the rear more speed to allow you to level yourself out becuase of these conflicting drives and then you lift the pistons up all the way and BOOM high torque

Gonna try it,
Cuog