Feel free to ask them to post it here!
This isn't just a thread for more experienced teams to help out less experienced ones, but a place where less experienced teams can come to ask for help. Remember, we're all gracious professionals here.
That being said, I don't know anything about Crab or Swerve drive. Sorry.
EDIT:
Oh, but I did find this article on Wiki Books...
http://en.wikibooks.org/wiki/Robotic...hysical_Design
Enjoy. =]