[EricH]

Originally Posted by Chak

Looks like you're asymmetrically powering only the upper left (in the picture) and the lower right wheel. How's that working out? I've never used omniwheels before - do you have to power all the wheels (like a WCD) or not?

Nope, they're powering all of them. The frame hides the near-side belt on both sides.

Omnis being all/not all powered depends on the exact type of drive. If they're in tank configuration, they don't all need power. But if you're doing something funny--say, omni-directional movement--you'll need 'em all powered (in general). And, in general, you want all your wheels that are on the ground powered (unless you specifically don't).