I've been researching some omnidirectional drive trains, on many teams, but as far as far as pictures go, you can only tell so much.

So, Chief Delphi, what robots in FIRST history do you think have had the best omnidirectional drive? "Best", meaning most maneuverable, fastest, most torque, etc.

Thanks!

edit: Sorry I wasn't so clear. I was hoping for examples of robots from the past/present/future with the best omnidirectional drives fitting the description above. Videos and pics are appreciated.