Quote:
Originally Posted by Andrew Schreiber
Not really. Having the traction wheels on the outside makes you more stable when they are down. You are less likely to be spun (longer moment) and, have a bigger contact patch to keep your CG inside and prevent tipping. You don't need to worry about either of these with omni wheels due to them being slippy by design. (It's real hard to tip an omni bot due to them just sliding away and their habit of preserving their inertia, and spinning them is almost always easier no matter their contact patch)
Basically, there's design benefits to having your traction wheels on the outside. I can't come up with any obvious ones to having your omnis on the outside.
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I personally haven't driven a multiple wheel type robot in a while, but I would think that, depending on the game and your strategy, having a slight bit of turning ability in traction mode could be helpful to reduce the amount of wheel actuations.