6 Wheel Drives Without Dropped Centers

[cmrnpizzo14]

I've been looking at different drive systems lately and I have tried to come up with something that our team could try. I have heard of teams using 6 wheel drives without a dropped center so that it is truly a 6 wheel drive and not just a 4 wheel drive with some extra stability.

I have heard that 25 has used this concept before and looking at some threads from the early 2000's I found some information on it but I still don't quite understand how it would work.

Can anyone enlighten me as to how this would work? Everything that I can think of says that a 6 wheel drive robot without a dropped center shouldn't turn without a special 7th wheel mechanism or omniwheels or something of the sort.