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We've used the two-wheel drive with castors setup before. It's worked pretty well for us. It turns well, and can push okay, but sometimes you just need the power and traction 4-wheel-drive offers. Plus, if there is any kind of incline, that setup won't work. You'll high-center your 'bot when you try to go up the ramp. It's not perfect, but it's surely simple and effective.
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Jeff Waegelin
Mechanical Engineer, Innovation First Labs
Lead Engineer, Team 148 - The Robowranglers
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