Quote:
Originally Posted by Madison
When using omniwheels, you'd typically eliminate the "rock" from your 6WD -- and so both ends are on the ground at all times.
Assuming that you have four traction wheels and two omniwheels, you'll want for your center of gravity to live above the traction wheels, not the omniwheels. Increasing the total percentage of the robot's weight acting through the traction wheels increases your tractive force compared to placing it over typical omniwheels because the omniwheels have a lower coefficient of friction.
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Not necessarily ... especially on carpet - the edges of the rolling elements on the omni wheels could "dig in" to the carpet more and actually give you increased traction for "driven" omni wheels. Lateral/turning, of course, is another story completely ...