[Simon Strauss]

Originally Posted by Richard

So a robot drivetrain that is truly holonomic as defined above would have three degrees of freedom; i.e., three independently controllable wheels not directed along the same axis. A robot drivetrain with four omniwheels arranged on the corners is actually redundant, but with relatively simple math can be made to function like one that is holonomic. The same statement applies to a robot drivetrain with four mecanum wheels.

Aka Kiwi drive which is usually categorized with the Holonomic drive Art had above due to their usage of the same type of wheel