[evanms]

I actually came up with the idea of a 6x6 configuration with omni-wheels in the front and back 2 days ago for one of the teams I am mentoring. It was quickly brought to my attention that even with the center wheels there for traction, no matter how wide they are and how much traction they may have, it will still open you to being a much easier push should you get nailed from a corner. I am not sure how correct this information is, but it is sensible none the less. A suggest that was made was just to put omni-wheels in the front. However, if I were to put them on one side only, they would surely be in the back as we are likely to put a manipulator on the front.

This is my take. Also, I was pondering the idea of the dualie omni's.