Quote:
Originally posted by WakeZero
Alright... after thinking about it, I guess my definition of an omni-directional drive would be:
A driving mechanism that allows 360 degree directional movement independent from the frame.
My thoughts are that you NEVER can or need to go in more than one direction at a time... so being able to do them all at the same time is a pointless criteria.
Therefore, under this definition, I consider Swerve Drive an omni-directional drive 
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The definition that was given in that thread, however, required the robot to move in the X, Y, and rotational directions simultaneously. And, as for "never" going in more than one direction, did you ever see the Kiwi Drive, or even the video? There's some awesome stuff you can do when spinning and going at a diagonal.
That being said, however, swerve is more than enough mobility for just about anybody. There are advantages to swerve over Killough, and vice-versa, but you can do well with either.