Quote Originally Posted by Metal Demons
Yep, but hinged wheels + whatever mechanism is required to position them = more weight, too and the Whyachi-style idea isn't invertible. Plus, more moving parts to go wrong on impact...
Ah yes, but once a mechanical design is perfected, it's reliable. Car motors are a good example, lots of mechanical complexity but they are reliable.

The omni wheels I would avoid because they have very little traction, are quite frail and offer no advantage for this kinda of design.

Yep, everyone come to Oz for an melty brain show down, our dollar is crap against the pound so you'll be able to visit for a fiver or three