The ability to get over obstacles is very impressive. If you have ever watched a RoboMagellan <a href="http://robogames.net/rules/magellan.php" rel="nofollow">http://robogames.net/rules/magellan.php</a> competition, you will have seen <i>many</i> robots fail to do what MiniRHex can do.<p>The odometry has to suck, though. The rest of your nav stack had better be able to compensate.<p>Overall, very performant. It gives me the itch to go out and build one.