A proof-of-concept demonstrating the ability to have one wheel control movement in two dimensions. (These pictures were taken with my DSi, so don't expect quality resolution.)
About this creation
It's essentially an omniwheel where all of the smaller wheels can be controlled.
As you can see, it's just a simple matter of putting a worm gear in the center connected to a few other gears extending the drive train out towards all of the individual wheels that make up the omniwheel.
I was originally going to have a sort of planetary-gear type of arrangement, but the measurements weren't working out so I eventually thought of this much simpler (but slower) alternative.
