Went to Agrihawgs last night to put my XM radio in and look at his powdercoating stuff and we got to talking. The mass transfer thing he was talking about seems like it would probably work. Put the batteries low in the car...put them on some sort of slider...as you turn the mass of the batteries move to one side of the car to the other. You might could set this up with the servo for steering turning a gear that pushes the batters one way or the other on the frame.
As far as articulation...are meaning like a skidder or large tractor that is articulated in the middle?? Or do you mean a frame that would articulate and lean in curves?? You could build one that leaned by allowing it to pivot...like the front of a tractor...or the way rock cralwers work when they use a solid axle. Would be neat to try...if you could make the mass transfer and articulate the body or frame...I think the only thing that would keep you off the track would be traction from the tires. That front tired needs to lean also in my opinion...much like you steer a road grader.
"But if serving the Lord seems undesirable to you, then choose for yourselves this day whom you will serve, whether the gods your ancestors served beyond the Euphrates, or the gods of the Amorites, in whose land you are living. But as for me and my household, we will serve the Lord.” Joshua 25:15