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Why use servos? What's wrong with a Tamiya gearbox and tire set?
Here's a link to some tires for robots.
Pololu Robotics and Electronics
Low voltage and high current draw. Very inefficient.
Low voltage and high current draw. Very inefficient. Besides they will not work for this project.
Krumlink has has a Tamiya gearbox. I had him buy it for the robot he never built