[Ben Piecuch]

I haven't seen any other pictures of this robot. But, could someone please explain the high traction wheels on the front, and the omniwheels in the center? (I'm assuming there is a 3rd set of wheels in the back, what kind of wheels are they?) There have been a slew of other threads about 6wd and the merits of what wheels go where. This layout is definitely not represented in any of those discussions. Anyone have any more information? Thanks,

BEN