Crazy Drive Train Ideas

[CENTURION]

This is basically what I've been doing for the past few weeks straight

Specifically, I've been attempting to find a way of making a demo/promotional robot that our team can show off to schools, potential sponsors, and the general public (especially when we do recruiting for our summer camp).

I personally have been wanting to tackle the problem of an off-road sort of drivetrain, so I've been experimenting.

For now my favorite solution is off-road swerve/crab drive, using two wheels on each pod (ok, I'll admit, the two-wheels part is mostly to make it look cooler, but it would have it's benefits: traction, weight distribution on soft material, etc)
Each pod would be individually rotated via an FP or Window motor, and would raise and lower via a pneumatic piston and some guide bars. (the pistons could be pressurized somewhat to create a passive suspension system).

I will upload some sketches and better explanations later...