[s_forbes]

The sound of the drivebase as it moves in different directions gives a good indication that the forward/back and side/side motions are independent, so looks like omni wheels. Based on freeze frames, goodness... 12 wheels?

My big questions: Any tricks needed to keep all of the driving wheels planted evenly? Surely you have solutions for dealing with the bump. And, what kind of driver input did you guys settle on?

Seems to work well! Year of the omnidirectional robots.