[sanddrag]

Originally Posted by rangersteve

I don't get it. Wouldn't it just spin in place? The little wheels should spin in the opposite direction from the main wheel. ALso, four small wheels would make the robot or whatever bouce up and down, it needs to be more like a circle. Looks good but I dont think it will work.

I think his vision is that under normal circumstances there will be two omni wheels on the floor and two in the air. The big X structure will remain stationary. However when an obstacle such as a stair is encountered, the big X will become the wheel and that whole thing will rotate then. I think it would certainly work.