pic: Team 195 driving base 2007

[Nuttyman54]

Originally Posted by nuggetsyl

Y lower the middle wheel. Makes no sence.

With any 4 wheel tank-drive wheelbase, long and narrow is much better at going straight, short and wide is better for turning. The problem with the short and wide is that it's easy to tip over in the forward and backwards because of the short wheelbase. The remedy is to take your long and narrow base and put a middle set of wheels that is lower than the rest. This gives you essentially two sets of "short n' wide" wheelbases that you rock between. This makes you hard to tip, but also makes it much more efficient to turn, and gets rid of the characteristic "hop" that many high-traction, 4wd robots have.

another version of the 6wd solution is to keep all the wheels on the same level and replace one or both of the outboard sets with omnis (see 488's robot this year)