Single Omnidrive Platform

The goal of this project was to create a drive mechanism capable of forward, reverse, and rotation without changing the speed or direction of the drive motor. This is accomplished by driving a hemisphere of rubber and controlling the angle at which the rubber contacts the ground. This essentially changes the size and direction of the 'wheel' contacting the ground. The drive mechanism in the video suffers from having coupled steering mechanisms, as well as a platform which shifts in orientation