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By the way, does anyone have links to videos of mechanum and holonomic drives, specifically with the wheels showing? I haven't gotten to see either in action, and I'm curious as to their real maneuverability.
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This link still works i believe! It shows a prototype of our Kiwi drivetrain sometime before the start of the season back in 2002. We made those omni-wheels ourselves.....but they are very similar to the aluminum style that AndyMark produces today.
http://stuweb.ee.mtu.edu/~alkrajew/FIRST/kiwi.mpg