[joeweber]

Thanks for the response, this system does use ball differentials where the two drive chains come together. The video and system can be viewed at http://www.team1322.org/ideas.htm . I would never use the 10 wheel design but I do like the discussion on this and how traction can be view by different people. I have heard many views on traction and multiple wheel designs. The addition of the extra wheels just popped into my mind and though I would see how it would look on paper and wanted to share. I find it interesting trying to come up with a omni direction robot that is simple to build and has an effective pushing force. Swerve drive is complex and Mecanum is simple but less traction. Maybe somebody will come up with a solution some day.