[Jeremiah Johnson]

OKay, I see one glaring problem. What's stopping another robot from planting itself next to you and stopping you from opening up your "wings?" I mean, that would be a good defensive strategy against a robot of that nature.

There was a robot, I think it was 930 in 2005 that opened up like this but I'm pretty sure it was for a different reason.

Also, how much do you think this set-up, as you have it now, base only, would weigh? Looks pretty heavy.

But nonetheless it's a very interesting idea. I'd like to see it a bit more.

/Edit: If you used a two-wheel crab drive, wouldn't you just be able to turn the crab and that would open itself up? Turn the wheels to X degree and drive the wheels. This would cut down on some weight I think and just hinge the wings. And then you should be able to move side to side, in an arc, and forward/backward with less weight than the mecanum.