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Well, the argument during our design sessions went something like this:
A "normal" two wheel or four wheel drive system is non-holonomic. It goes in one dimension (forward/backward) with the ability to change its direction while in motion. It is also possible to do an in-place turn, but there's lots of scrubbing going on with the wheels.
However, the scrubbing is also a feature. If a robot were to be pushed at 90 degrees to its motion (left/right in an front/back movement), it would be difficult to push due to the scrubbing of the wheels.
Yet, the omni-drive design intrinsically has the capability to roll freely in *any* direction. So, it would be susceptible to attacks from the side.
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