[asid61]

Interesting concept. It's kind of a like a butterfly drive, but the back omni wheels are sideways. I think if you design a drivetrain with this in mind it could work fine geometry-wise. You would need to do some creative work in order to keep the size acceptable.

I have a quick question: if only the back omnis are sideways, how cna you go sideways? You wil just turn in place, as the back of the robot will swing sideways while the front stays still or moves forward. Drifting would be super cool with this, but I'm not sure about strafing.