The dual differential module robot base model has 2 differential modules. Each differential module contains 2 coaxial drive wheels, and the axis of the differential module is located at the midpoint of the line connecting the two drive wheel centers. In non-overlapping situations, the differential modules can be distributed arbitrarily in the robot base coordinate system (still recommended to place the center of gravity within the circle enclosed by the two differential modules for dynamic considerations), which means the robot base coordinate system is not limited by the distribution of the differential modules, as shown in the image below: