Abstract: Apparatus and associated methods relate to an endless-track drive wheel having axially-projecting roller cogs circumferentially distributed, the cogs configured to engage a lugged inner surface of an endless track at a radial distance from a wheel axis greater than a wheel radius. In an illustrative embodiment, an exemplary drive wheel may have cogs axially projecting from two opposing faces of the drive wheel. In some embodiments, each cog may include a roller bearing or bushing annularly coupled to a center post. In some embodiments, the cogs on each face may be periodically distributed at a radial distance from the axis of the drive wheel. The endless track may have a series of track lugs projecting from an interior surface. In some embodiments, the track lugs may be periodically arranged along the track to have a pitch corresponding to the pitch of the drive-wheel cogs. In some embodiments, the roller bearings may advantageously provide low-resistance drive coupling to the track.