[jamie_1930]

I think I have exactly what you are thinking of this was one of our programmer's, dana, idea in 2009. He called it serpentine drive and was designed to slide across the regolith, similarly to a snake. I hope I can explain this well enough for some people to get, and I'll try and follow it up with some of dana's prototyping of the drivetrain. You make multiple wheel assemblies that would include two wheels, parallel to one another and unpowered, with a center pivot in the middle of the two. Now you would have the center pivot offset from the center of a gear, then put a series of this in a line with eachother, connected with springs to the front and back of each and idler gears inbetween to maintain direction. Each of the assemblies would then be offset slightly so that when the whole thing was powered by a single motor the wheel assemblies would travel in a wave.