Actually I had a weird idea the other day. Why not create a 6 wheel drive that uses helical gears to power the middle wheels. The middle one's have swerve modules and the the rest are dead axles. In the center there will be a 6 motor gearbox that will have chain connecting the swerve modules and the humongous gearbox. Kinda like tumbleweed or the robonauts. If this doesn't make sense and it probably doesn't i'll cad something up and post it. Just an idea though.
