[StevenB]

Originally Posted by thefro526

On the subject of small wheels for Roller Claws and the like, may I suggest looking at the Bane Bots wheels?
http://banebots.com/c/WHB-WM

Another vote for BaneBots wheels. I've been using them for a (non-FIRST) robotics project, and they're great. They're lighter than the Vex wheels and have incredible grip. For the orange wheels (40 shore rubber), I measured a static coefficient of friction of 1.06 on a painted wood surface.
As thefro mentioned, you can attach them to just about any shaft with the help of the BaneBots hubs.