[EricH]

Originally Posted by Rosbots

I believe that would only be the case if the chassis were a 2 wheel drive, with the two motors on the Colsons, with the omni's moving freely. By using a 4 wheel drive, with motors on the Colsons and Omnis, the same force(or similar enough, not quite the same due to the different wheels) is being applied by all 4 corners of the chassis, and therefore the CoR should be somewhat near the center. I'm not entirely sure in my reasoning, so I may be wrong.

The same force is being applied front-to-back, or near enough.

However, that cannot be said for the side-to-side forces, which tend to resist turning. The end with two omnis will slide sideways far more easily, forcing the CoR towards the Colson end.

I've seen this effect used on many a robot. If you can harness it to pivot around the point YOU want it to, it can be a very useful tool. If you can't, it can cause some trouble.