[JVN]

This is very intriguing to me. I'm assuming the middle (omni) wheel is offset lower than the traction wheels. This would mean the chassis is always sitting on 2-traction wheels + 2-omni wheels at any given time.

The weird thing is... I imagine the turning point of the robot would drastically shift from the front to the back depending on which set of wheels the robot is sitting on. (At least, this is what physics tells me).

Have you driven it yet? How does it handle?

Is there a reason you didn't go with front/read omnis and middle traction wheels? This would result in the same 2+2 configuration, but you'd have a consistent (centered) turning point.

-John