[Gerry Salinas]

Originally Posted by thefro526

And A six wheel drive with the center wheel slightly lower than the others ( I personally dislike this design)
-Dustin

What about this design do you dislike? We've been using it at 418 for three years counting '07 and it's worked great. Some people like to lower the wheels a lot, effectively creating two 4WD bases that you rock between, but you don't necessarily need to do that. If you lower the center wheel only very very slightly, then what happens is that you just sink into the carpet a little bit and more of your normal force ends up on the center wheels. The robot doesn't really rock back and forth, but it does turn well.