A Danish research institute has developed a cross-country mobile robot with four-wheel drive and control. The wheels of the robot are fastened on 4 worm gearboxes serving as servo-control of the wheels. BJ-Gear A/S has supplied a solid and reliable solution based on an adapted standard worm gearbox. By means of conical bearings, an extended output shaft and some exceptionally strict tolerances, the gearboxes have been provided with the necessary rigidity and with a minimum of slack. In addition, BJ-Gear A/S has supplied a DC-motor of high performance mounted on a matched motor flange.