One of my labmates has developing a CVT. It is currently patent pending. You can check out a quick description midway down the page at the following link:
http://www.me.vt.edu/romela/RoMeLa/Research.html
Team 401 is *possibly* going to implement this novel CVT on a robot after the competition season is over as a test platform.
Gabriel Goldman
PhD Candidate
RoMeLa: Robotics and Mechanisms Laboratory
Virginia Tech
http://www.me.vt.edu/romela