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I built this robot to test some different ideas that I had. One of them were the CD wheels and other was the free wheel tilted by a servo. It ended up to be a crazy (maluco) robot. In full speed it could do massive drifts but was very unstable... I decided to reduce the voltage given to the motors so it could behave how you can see on the video. The front wheel is attached to the servo using polymorph:
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/maluco