pic: Our Team's Omniwheel

We designed this on Autodesk Inventor and had help with engineers from BorgWarner to machine it (very laborious task). The actual wheel is roughly 6" in diameter, weights about 1.5 lb, and has a nice ball bearing. I took this pic when I was bored and it came out well; no photoediting other than this being sized down by a factor of 4.