The Drive Train Question.

[whytheheckme]

Hello, CD Community!

Many of you know me, whytheheckme, as a control/electrical/programming person. Today, I come to you as a mechanical noob.

Can someone, please, explain to me the deal with drive trains and wheels? I'm going to give a short description of what I believe to be true, and then I'd like everyone to jump on my back and explain to me all of the things that are wrong with everything that I'm saying (as if I'd expect any differently anyway )

• Using 4 (all driven or 2WD) traction wheels in a non-square configuration will cause the robot to skip around while turning, due to the fact that either the front or the back wheels can't slide on the carpet.
  
• Using 2 traction wheels and 2 omniwheels (all driven or 2WD) in a non-square configuration will turn freely, as the omnis can swing.
  
• Using 4 driven traction wheels in a square configuration will allow free turning?
  
• Using 6 wheel drive somehow magically works?
  
• Using non-square traction tank treads somehow works

My understanding goes downhill from here.

Maybe one of my more mechanically-inclined friends can help me out here.
Jacob