Differential Swerve Drive

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