We are useing Holonomic wheels in the front. It is a regular wheel but it has washers attatched to it, perpendicularly(if thats a word). This allows you to be able to move side to side(on the washers) but, driven by th eChiaphus, we get lots of traction because flat end of the washers dig into the playing field when driven forward. I believe there is a picture of themon our website at
www.moerobotics.org if this definition is too confusing .