User:Laptop bird/Draft:Four-wheel independent steering

Four-wheel independent steering, also known as swerve drive, is a form of drivetrain where each wheel of the drivetrain can swivel independently from the chassis, and are each independently powered by its own motor. It and its variations are considered holonomic drivetrains. They are sometimes used in FIRST Robotics Competition robots.

= Design = There are a few key differences in the design of 4WIS for large vehicles and smaller robots. Large vehicles tend to have a wheel without complete ability to rotate about the z-axis, but smaller robots tend to have wheels underneath the chassis with complete rotational freedom about the Z-axis. There is also a notable difference between systems referred to as 4WIS and swerve drive, being that 4WIS is usually much larger than a swerve drive.

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