The 2008 Crab Drive prototype from FRC team 973.
Thanks to;
Team 118 - The Robonauts
Team 254 - Nasa AMES Robotics
The Borel Family (formerly of 294)
Team 488 - Team Xbot
-Powered by 4 CIM motors through the guts of AndyMark Shifters -geared for about 6/16 fps and traction limited in low.
-4" diameter 1.5" wheels with nitrile roughtop
-steered in pairs by a two globes
-Bevel Gears and Absolute encoders allow unlimited module rotation while retaining the same sensor value for actual angle.