i got my RAD 2.0 in a week ago and took him apart to get cleaned so i started on the base,i added 2 very powerful motors same use in NEATO XV-11 the motors do fit,only little longer,plus has a magnetic encoder interface on the neato xv-11 it handles about 40 lb plus neato stuff, so i should have it able to carry over 50 lb will post photos and circuits of the encoder interface also on the motor there is a gear the same as on the motor from the RAD 2.0 only some dremel work needs to be done,was started to sell neato motors until i found them very good for robotics and have high torque