Optimizing Robot Speed

I am using 4 motors with ratings 12V-15Kg.cm-500rpm to carry a robot of weight 17kg. Currently with 100mm wheels the robot runs at 350 to 430 rpm speed.
Do You guys have any idea how to reduce the load of weight on the motors like using caster wheels etc.?
I have already managed the weight distribution on the base.

Hi there @Octane663!

I think these tutorials will help you:

Please let us know if you were able to optimize the speed of your robot or if there’s anything else we can do to assist you!


Thank You
I reduced the weight of my robot and used extra 2 wheels

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