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Re: drivebases designed to prevent tipping
One thing to kep in the back of your mind: going up the ramp is the easy part, it is going down the other side that is hard. When my team built the kit bot and hand drove it over the bump, it went up fine; on the way down 4 out of 5 times it flipped. If I were looking at an articulated chassis I wouldn't focus on designing it to go up, but rather get back on to the floor safely.
Food for thought 
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