Here's some (simple) thoughts about wheel placement & size, and a later sketch of EIB overall shape. Basically, contemplating more forward wheel placement for stability, larger wheel size for more easily driving over small household obstacles. (Since this was written I got a Jeep and took up four-wheeling. Perhaps I can draw from some of my experiences in that realm).

The note about speed assumes a set of motors I'd already purchased, otherwise you could select wheel size & gearing for appropriate maximum speed.
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