[dtengineering]

Skid steering, but in the wide set up. We actually have 6wd, but have raised the front wheels 1/8" and set our centre of gravity as far back as possible. That gives us, essentially, a 4wd skid steer set up but with a width of about 34 inches between the wheels and a length of just 13. (The middle axles are just slightly forward of the centre line.)

As the width gets greater and the length less, the robot begins to approximate a 2 wheel drive robot (like a segway) and should be very close to having the absolute maximum possible turning force.

That's how we see the theory, at least. We'll let you know how it works in practice once we get it all together and give it a try, perhaps late next week or early the following week.

Jason