[PerpetualMotion]

Unless you have a 4 wheel drive robot with two traction wheels and two omni wheels, I think this is a pointless experiment. Whats the point of having 4 omni wheels if you don't move in omni directions. If you are going to add wheels, then its sounds like you're going to have 6WD, which has a much different dynamic for going over bumps then 4WD, so nothing from this experiment can be translated. If you are going to do some sort of holonomic drive, then you are going to be losing traction and again this experiment becomes useless.