pic: Top view of our 2007 Robot, Otis.

This is a top view of our shipped robot (minus the wings). You can see the two Fisher Price gearboxes we used to lift the wings and the banebots motor that was later replaced with a window motor at a competition.

The drive is innovative not only because it is the first ever swerve-worm (sworm) drive (AFAIK), but because it used cables, much like the wings on an airplane, to turn, rather than using belts or chains. You can also get a good top view look at the great wiring job our electrical team did.