Developement of the new Wheel unit

Current Vitulus wheel unit is good and working, but the Dynamixel servor are used on the maximal voltage and reqired torque is on the limit of the servo. I want to makethe Vitulus faster, stronger and main reason for redesign is I need more rigid wheel unit. There is lateral force on the wheel when I use 4 wheel differential drive and in rough terrain this force bend the wheel.

So I decide to redesign wheel unit and change the Dynamixel servos for BLDC motor. See the video...

This video is few months old and currently I have new wheel printed and I tune some details. I'll show you soon.