This was the very first time that we tested the drivetrain on the ground. It’s a little rough right now, but we think we have the three-wheel drive system down pretty well…
The video is available here:
http://www.youtube.com/watch?v=Jde7YWrRe4s
Improvements will be made shortly to the drive code, and the code for the lifting arm.
This is a close-up of the bottom of the chassis.
Wow. The first time I saw the picture I said “nah… that ain’t gonna work”
But after seeing the vid I can see why this would be quite effective.
You might want to add some omnis/casters/skids to the rear corners to prevent tipping.
Looks great!
I didnt know that this years competition was called FIRST Robotics: Tokyo Drift?
We just added some temporary skids to the back corners. It never tipped, but we were afraid the corners might catch on the carpet.
Kamikadze 
PS. There’s a Vova on your team?
This is our new robot:
I see your new walker-design doesn’t have any worries over catching on the carpet. 
Nice drivetrain btw.