This is pretty neat. I’m curious to see how it drives. Doesn’t 2767’s swerve have something similar but with less travel and only the wheel/saddle moves?
Also, a quick tangent: Last year, in a hotel room, (very) late at night, a few CPR members discussed a smart suspension swerve, very similar to this but with linear actuators in addition to the springs so that the robot could adjust each wheel height depending on the situation. The robot would’ve been able to lean into turns, “jump” over obstacles, and remain level on slanted floors (which would’ve definitely been useful in FRC). We even found these piezoelectric linear actuators that would’ve been perfect for the job. (too bad they cost $3000 apiece…) Anyhow, it would’ve been awesome, too bad budget is a thing