Ken - TechnoKats (45) had the ball drive.
I'm looking into finding our 2002 Inventor submission. I'll post a link if I find it.
I wasn't on the team then, but in 2001 our robot (Rampbot) had BUPODS (omni wheels) on the front. Mike Soukup can probably fill in any details.
This picture shows the BUPODS. There may be closer shots in the 2001 gallery, these were the first two I saw.
http://www2.wildstang.org/gallery/2001_Build/P2100004
http://www2.wildstang.org/gallery/2001_Build/STUDEN_2