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Yep, those are zip ties.
We tuned our wheel coefficient of friction with them to allow tight turns in low gear. The robot pivots about a point just inboard of the wheels with the conveyor belt material attached. The wheels with zip ties are slick enough to slip easily in the turn. We haven't see any sign of damage to carpets when driving on the big wheels.
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"There's never enough time to do it right, but always time to do it over."
2003 AZ: Semifinals, Motorola Quality; SoCal: Q-finals, Xerox Creativity; IRI: Q-finals
2004 AZ: Semifinals, GM Industrial Design; SoCal: Winners, Leadership in Controls; Championship: Galileo #2 seed, Q-finals; IRI: Champions
2005 AZ: #1 Seed, Xerox Creativity; SoCal: Finalist, RadioShack Controls; SVR: Winners, Delphi "Driving Tomorrow's Technologies"; Championship: Archimedes Semifinals; IRI: Finalist
2007 LA: Finalist; San Diego: Q-finals; CalGames: Finalist || 2008 San Diego: Q-finals; LA: Winners; CalGames: Finalist || 2009 LA: Semifinals; Las Vegas: Q-finals; IRI: #1 Seed, Finalist
2010 AZ: Motorola Quality; LA: Finalist || 2011 SD: Q-finals; LA: Q-finals || 2013 LA: Xerox Creativity, WFFA, Dean's List Finalist || 2014 IE: Q-finals, LA: Finalist, Dean's List Finalist
2016 Ventura: Q-finals, WFFA, Engineering Inspiration
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If everyone spent half as much time reading and understanding the rules as they do complaining, arguing, and disagreeing about rules, we might not even be having this discussion. - AmyPrib [more] 
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