Omni wheels robot

Recently I have designed this omni wheels robot, which can move on the ground agilely. This idea was inspired by a electronic trash can made one or two years ago by a Japanese guy, who in the video is throwing waste paper behind, knowing the controlled trash can will come up and catch the paper-ball. The algorism inside is that the trash can first identify the paper-ball, and then calculate the possible drop point, and fast move to that point in respond. The motion transmission mechanism is smartly designed too, using only two motors to achieve the whole motion, one enables the wheel move forward or backward, while the other controls the angle of turn.
In my design, I would like to improve the motion transmission mechanism. Instead of using ordinary wheels, I wanted to make a robot with omni wheels, driven by three 42 stepper motors. Robot Rovio was a good example for reference. I disassembled its movement mechanism and reverse engineered it. Then I started to think how to set up my