If AT-ATs had wheels, they wouldn't fall down so easy. But they were built a long time ago, in a galaxy far, far away, possibly before the invention of the wheel. However, Christopher Aleria improved upon the design by setting an AT-AT body atop an Axial Rock Crawler 4x4 remote control vehicle. Link -via Illuminations and Other Stuff
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Maybe the wheel isn't that functional. You don't see many animals running around on wheels. It seems like evolution favoured legs.
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It's supposed to be futuristic. Everything hovers. It's like hoverbikes and hoverboards. You don't need wheels.
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Grievous' Bike, yes! And some Gungan vehicles too, I think. Maybe the wheel is a system of locomotion from a more civilised age.
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There was General Grievous' Wheel Bike, but does that count since it's not from the original series? ;-)
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AT-ATs were possible the worst design in the entire SW universe. Slow, cumbersome, inefficient, vulnerable, and only able to fire straight ahead. A terrible design for a military vehicle. Wheels would have been a huge improvement.
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