Ray McNamara of Launceston, Tasmania, built this omnidirectional robot using a Lego Mindstorms parts, Technic motors, and is programmed in RobotC. I really love how Ray explains exactly how he designed and programmed his robot!
A Holonomic platform is one of the many types of Holonomic drive trains — it can move forward and backward as well as left or right without turning. The Holonomic platform can move in any direction instantaneously unlike conventional four wheeled vehicles.
The Holonomic platform is based on 3 wheels offset 120 degrees from each other, using omni wheels (wheels with horizontal rollers on the side so they can slide left or right but be powered forward).
[via The NXT Step]