4-Wheel Independent Pivot Drive allows for dynamic and controlled reorientation (twisting) of the chassis in Crab drive mode. The mathematics behind two different Crab twist modes are exploreed.
Basic mathematics behind the control of an 4-wheel independent Pivot Drive-Train. A companion paper, Crab-with-a-Twist, describes the math needed for twisting crab-drive on the move.
This is a document concerning robot steering. It explains the numerous steering modes for Team 79’s robot, Captain Krunch 6. This robot uses a crab-drive design.
We developed these steering modes in 2003 and 2004.
Ok, It's a DOS prog, I'll get that out of the way.
Basically, this lets you see what kind of input you'll get for a crab drive, particularly my multi-drive, as I've explained in quite a few threads. This demo will be updated, this is phase 1. The 2 most obvious problems are:
- Ranges 127 to 90 rep...
Inspiration is created by a vision and is reinforced with success. - rourke [more] 
