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Originally Posted by Rob2713g
How did you use suspension on only 2 wheels on Jester Drive? Why not 4?
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Probably because any three points of contact define a plane (e.g. the floor), and the fourth is redundant (in this case, not necessarily touching the ground). So, they leave their front wheels fixed, and let both of the rear wheels pivot so that they effectively have two planes of contact—either rear wheel plus both front wheels.
If you put it on all four, it works, but then the body of the robot becomes (potentially) unstable, because it's now supported on four moving pivots. It's like body roll in a car, only probably quite a bit more pronounced.