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Looking at this video http://m.youtube.com/watch?v=fab73SjLymw I think that rather than a simple limit stop you could add torsion bar springs to each axle, to allow fairly free conformation with ordinary terrain and increasing resistance to extreme rotation of the track axle. Not having tested it, my conjecture is that you would go for a spring rate that covers most situations but still ultimately relies on a limit stop rather than spring tension to prevent flipping in extreme cases; i. e. relatively soft, something to add useful tension. Currently, in that and other videos, the lack of tension seems to be reducing efficiency as well as introducing the flipping risk.
The Mars rover "rocker boogie" design has a cross bar that transfers torque between the left and right side boogies. I don't see such a bar in this design.
Is this four indepdenent boogies?
Also, how tight turns can it make without the tracks coming off?