Here is a cutaway of the robot's mobility system. Here we can see the two motors powering the tread module on the left (as well as one of the motors powering the right-side module). The gearboxes are of a two stage design, meaning that there are two gear reductions in between the input and output shafts. Also note the encoder (the black cylinder with two pegs sticking out) on the side of the rightmost module. This device accurately measures the RPM of a spinning shaft, allowing the robot to move and turn very precisely.
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