[AdamHeard]

I remember AndyMark's page saying the 10" and 21" mecanum wheels were based on customer's demand.

I doubt he designed them for combat robots, as there are currently very few heavies and superheavies still competing. So it is unlikely the demand was theirs, not to mention that it would probably be dominated by other drives. Combat robots have a 220lb heavyweight, and 320 lb superheavyweight class for reference.