Ok so I'm thinking of ideas like using servos for drive , mostly because they are easy to replace or upgrade , and I already need to cut out the bottom of Jarvis base to fit the vacuum power head. If I did one servo per wheel that's 480 oz in torque per side. Is this enough to scoot around a 50 pound robot? On carpet? I do have the option to use two servos per wheel which is then 960 oz in torque. The servos would only turn wheels via a gear a axle would still bear the weight so there's no lateral stress on the servos.
The servo I was thinking of was polulu Power HD 240 oz in standard size servo , just 19.99 each.