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this year's combbat robot used this type of drive train.
while it performed better than most other two wheel drive robots (the average configuration of 2 powered wheels and 2 casters) when it was on the hill, i did see it get stranded once when it ran up onto another robot, which lifted its drive wheels off of the ground.
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"But to say that the race is a metaphor for life is to miss the point. The race is everything. It obliterates whatever isn't racing. Life is a metaphor for the race." -- Donald Antrim
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