My take on a differential swerve drive. An omnidirectional wheel with stationary motors, that can drive in any direction.

I plan to use 3 of these wheels in my next autonomous robot as an alternative to traditional omni or mecanum wheels.

The model for the 3d printed parts and a list of other items can be found at https://www.printables.com/model/3001...

00:00 Intro
01:10 Assembly
03:08 Demonstration How it works