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How about a system that can provide power to each wheel individually or regenerate from each wheel individually and weighs the same as the brake components you no longer need. In a high speed turn you could add more power to the outer wheels to enhance your steering. ABS and traction control would be accomplished through changing the "gearing" of each individual wheel instead of simply applying friction brakes to maintain grip.
You could even apply forward power to one side and reverse to the other and turn on a single axis point, like a skid steer.
Completely eliminate any mechanical connection between each self driven wheel.
regards
Mech
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