[Sachiel7]

I've designed an "omni drive" that we probably will end up using this year. It can function as a Skid steer, Crab, Car, and Angle drive systems, all at the simple push of a button. It should be pretty durable too. I'm not going to post any specs on it until after we build it.
I've prototyped it several times using Lego's/edu bot parts, etc, and each time it's worked very well. Since it can function as any system, we won't lose anything walking into kickoff with the designs waiting. If there isnt any reason not to use it, then we'll probably go through with it.
It costs about $800 for the chassis, drive components, and some spare parts. It's estimated weight is around 40lbs. (w/o electronics)
Anyway, I'm putting together a video presentation on my system, to show my team. I might post it up on CD later...