A ground robot having a main body, two opposing drive systems, a flipper disposed distal to the main body, and a front wheel and a rear wheel, both disposed substantially parallel to the vertical plane and between the inner track and the flipper. The main body has a sagittal plane and two opposing lateral sides. Each drive system having an inner track disposed proximal to the main body. The inner track extends along a corresponding lateral side of the two opposing lateral sides and substantially parallel to a vertical plane of the main body, and is supported by a plurality of inner pulleys. The flipper extending along the corresponding lateral side and substantially parallel to the vertical plane. The flipper has a flipper body, an outer track, and a plurality of outer pulleys supporting the outer track. The diameter of the front wheel and the rear wheel of each of the opposing drive systems ranges between 1.2 to 1.3 times of a diameter of the inner track.