Grover 95 has excellent mobility. It can climb over just about any reasonable obstacle, including objects larger than a wheel diameter. Still, the design is not without its problems. The mechanism requires no fewer than 10 motors to control (6 drive motors, and 4 steering servos). To make proper turn requires the on board computer to calculate various angles and speeds, and then in turn a motor control system has to be able to produce those speeds. This introduces a great deal of complexity. The steering servos were 1/4scale servos geared down 2:1. This gave over 300oz-in of steering torque, however that wasn't enough as in some cases the mechanism will stall. The entire rover weighs in at around 30lbs and it is believed that around 600oz-in are required for steering to work reliably over rough terrain.