[desi_technology]

We haven't had any problems with 6WD drive for speed and turning ability. We used 6 4x2 IFI traction wheels with the center wheels have a 5/32 in drop which was just enough to allow us to turn well yet retaining pushing power as well. All six wheels had the gum rubber thread from mcmaster so it really stuck to the carpet well. I think the key here is what john mentioned earlier is your robot CG!!!, we had 60% off our total weight four inches off the ground which made a great difference in our mobility. If done right you don't need any omni wheels in the front or back to turn smoothly.