paper: Analysis of “a torque-actuated module” used for strafing in an H-drive.

[nuclearnerd]

Thanks Gus. It's nice to have an analysis of this module done up - it really speeds up the design process

I'm still not sure I would prefer a torque-actuated design over the same thing with an air cylinder pushing down, but I guess this would be useful if you don't otherwise have a compressor on the robot.