pic: My wheel/leg design

[mechanicalbrain]

Well the general idea is that their are four legs and the sit out at an angle from the robot. The entire leg can rotate on that gear (more symbolic of where it pivots then anything else). Also the rod is attached to that square coupler by a ball bearing and rotates. When it rotates the half sphere at the bottom acts like a wheel. Its just a conceptual design right now and not really possible due to the limits of last years kit but its a future plan. Not only could it have simple walking but the legs could start facing up and fold down to add significantly to the height of a robot. Basically I'm trying to come up with a simple walking robot that doesn't have the disadvantages of speed that most walking robots posses.

As mentioned its got a few engineering hurdles it needs to overcome but if i don't use something like this in FIRST then ill definitely do it privately because the idea has been bouncing around my head for quite some time i just never really developed it until now.