Configuration of a two-track tractor

A tractor configuration includes a mainframe structure, a control station having a means of controlling the tractor, an undercarriage system having one left side and one right side track assembly, a wheel mechanism containing one or more wheels located forward of the track assemblies, a power train for forcing both track assemblies to travel at the same or different speeds, a controller responsible for exerting force to transfer vertical load back and forth between the front portion of the track assemblies and the wheel mechanism and controlling the amount of weight carried by the wheel mechanism. The controller causes or allows the wheel or wheels of the wheel mechanism to follow the tractor's curved path caused by track speed difference.