[EricH]

Originally Posted by hurtzmyhead

Hmm... yea, i can see how that would be a hard task to accomplish. What do you guys think of a planetary gearbox, inside of a mecanum or omni wheel?

I'm not sure that's the best place for one, but it's a good place to start. Start with a mecanum, as there's more room "inside" one of those. You'll want to have some way for a mounting to come outside (better for the motors that way), but that's a pretty "easy" thing to do.

Oh, and I think this would be a good thing to do after your competitions...

If you do actually get this working, I understand that CD-Media is always looking for new whitepapers. This would be a great topic for one of those.