Omni-Wheel Balancing Robot?

Start your free trial to Altium Designer for 15 days: Part1- building the wheel: Last time I built an omni-directional wheel which had powered wheels around its circumference which drive in a perpendicular axis to the main drive axis. I looked at two existing designs for this, the first was OmBURo which uses helical gears to convey motion to the smaller wheels from a motor aligned with the main axis of the wheel. This allows differential drive between two motors, one driving the main axis, and one driving the smaller wheels. This works pretty well and allows the complete machine to balance on one wheel. I also looked at the Honda U3-X, and the Honda patent for their active omni wheel. This is a very interesting design, using a set of rollers mounted at 45 degrees either side of the small wheels, which cause the small wheels to rotate as the two side mounted hubs are rotated against each other. I made a couple of changes to this design, mainl