When backdriven, drive "freezes"

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1

My robot, when turned off and pushed sometimes “freezes” or gets a much higher resistance for a second when pushed fast. This has not always happened. Is this the internal gears of the drive motors? What could this problem be?
It has 1 direct drive motor on each side, along with 2 geared drive motors. The front and back wheels are connected by chain.

I did not notice anything strange when the robot is going- these motors are used for hanging, so small torque differences make a difference, and there isn’t more than slight extra resistance on the drive, though.

Is it anything?

Thanks in advance.

2

I’ve had this problem caused by both faulty motor controllers and faulty motors (the motor itself, not the gears) so my suggestion would be try switching out some motors and motor controllers.

3

It could be the internal gears in the motors. Open them up and see if there are any teeth missing or anything else amiss. Make sure all the gears turn easily and the shafts are in the right place.