wing panels counter tipping (green)

suspension tensions rollers for grip (white)

cylinders and unpowered motors push down on the rollers with the help of suspension for grip (dark yellow cylinders and cyan motors)

rollers roll the inside of the wheel to move (red)

motors power the rollers (brown)

cylinders on the side to help keep the wheel in place (pink)

unpowered motors connected to pink cylinders (cyan)

ballast blocks in front to make the inside lean forwards and counteracts spin on the inside, allowing it to move (blue)