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for body rotation in a coaxial system 2 gearboxes one on the left and one on the right, you make a switch in the program while the wheels are locked in the foreword position and you can rotate and steer as a 4x4 bot, Or with 2 steer linkages one fir the front and one for the rear, you can get some quadrasteer action by throwing the wheels in equal opposite directions Problem with both of thoes you would need some arakeen correction because the wheels would have to slip to the sides.
The Big advantage to the Crab is that you can apply 100% power in any direction and through turns, where something like a tank or 2 wheel drive can only apply 100% power in the direction its pointed and to turn you would either have to reduce power to one side or reverse one side. A kiwi or OMNI can ONLY APPLY up to 50%in a 4 wheel system and maybe 33% in a 3 wheel system of their power in any given direction.
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