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Awesome drive system!
As Greg mentioned, our team considered this very same type of drive system (which is called the omnidrive in the Ithaca area). Our Cornell faculty advisor was a strong advocate for that same drive system. He also happens to be the advisor of Cornell's Robocup team (3 time international champions), who came up with that type of drive system (on a much smaller level) several years ago.
Ultimately, we decided that the 50% loss of power to spinning the rollers in the wheels was too much to give up in this year's competition for increased maneuvarability.
Either way, i'm glad to see it successfully implemented and, depending on your strategy, you could have a huge advantage over other teams (not to mention the design awards you deserve).
- Patrick
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Systems Engineer - Kiva Systems, Woburn MA
Alumni, Former Mechanical Team Leader - Cornell University Robocup - 1999, 2000, 2002, 2003 World Champions
Founder - Team 639 - Ithaca High School / Cornell University
Alumni - Team 190 - Mass Academy / WPI
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... Imagine NOT being able to count on certain things to stay the same from year to year... It makes you wonder what sort of sick, twisted mind would do such a thing to all those innocent teams out there... - dlavery [more] 
12-02-2002, 21:12
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