[emeraldstorm]

That's a rather interesting drivetrain.

Did your bot turn easily with the grippy wheels in the center? Did it move quickly? Did you have to worry about the omnis taking the force of hitting the obstacles?

I feel like I'm missing an obvious design cue with this. My first thought was "they should've put the pneumatic wheels on the ends and the omni in the center so it could absorb the hits while still being able to turn (with the raising and lowering of the front and rear)", then I wondered if rotation would still be feasible with the friction.

Still, very innovative design. I like it!

Answering the question, we went with the standard-ish AndyMark Rhino module treads. We're definitely making our own drivetrain next year.