I finished up the chassis that I started in the last HOG drive post:
Because it was slapped together, it wasn,t very strong, and I did not like a few things about it, asmyetrical steering because of the front swingarm not being parallel to the ground, general shoddyness on the build which caused it to fall apart whenever it hit something, that kind of thing. So I built a new one, from the ground up. The only thing structurely that is the same on this one is the rear gimbal, which proved to work great.
Here are two videos of it running on my kitchen floor:
And a video that shows the basic movements that the servos do, along with how that changes the angle at which the hemisphere touches the ground.