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Comments by "" (@willemvandebeek) on "How NASA Reinvented The Wheel - Shape Memory Alloys" video.
There is good reason nature didn't evolve wheels; I'd say go for legs instead of wheels on the rovers.
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speed isn't a requirement, those rovers already go very slow... if it has more than 4 legs, it will be balanced no matter what... not sure about the energy efficiency, but I think it should be about equal... legs can be as rigid as you want, no need for flexible materials.
1