'Son of Whyachi' is, and has always been, a shufflebot in my opinion. This thread is dealing with walkers. so I can't see it has anything to do with this subject, however it is a great robot.

History has shown the best walker with 1DOM was below average on the score card.
the robots with 2DOM didn't make it across the arena.
I believe the 2DOM is a bad rule, born out of prejudice, and fear of what could happen but never has.