Flexi the robot has 4 independently pivoting and powered wheels. This allows Flexi to have 4 different control schemes:
Automobile - The front 2 wheels pivot like an automobile.
Snake - The front and back 2 wheels pivot, giving twice the turning radius of automobile drive, but less fine position.
Crab - All 4 wheels rotate to the same direction.
Twitch - Tank style steering with the ability to change which side of Flexi is front.