[Al Skierkiewicz]

Maddie,
As you probably know, I am nuts about high current drive systems. Six wheels on the floor is one of those, but I think having the omni wheels in front will go a long way to helping with the current problem. I bet you are planning on setting the middle wheels a little lower as well. But, I bet if you have the ability to move the center trucks back about six inches, you can keep all wheels on the ground, lower the current in turns, still have a stable platform for pushing from the side and have plenty of traction in the forward and reverse directions.
I very much like the approach of minimum machining. I am sure there will be some interest in this design for many teams. If we are at an event together, please drag me over to look at this design, should you use it. I would love to see it in action.