I previously built a small MonoWheel which is a single wheel that runs along with one motor driving it. It balances on its edge like rolling a coin. Monowheels have been built large enough for people to ride in, which looks like a fun project. A Pedrail is a wheel of legs and feet. This type of wheel has an internal guide which controls the length of each leg so that they can form a flat surface at the bottom and reach out at the sides to climb over obstacles. I built a four-wheel drive crawler
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