Nice write-up on Omni-wheel development

I put a link to the “translated” page since its all in german.  They author is doing a lot of work with Omni wheels and figuring out the math to use them.

http://translate.google.com/translate?js=n&sl=de&tl=en&u=http://www.mtahlers.de

http://makezine.com/2013/06/12/omni-wheel-mobile-platform/?utm_source=feedburner&utm_medium=%2524%257Bfeed%257D&utm_campaign=Feed%253A%20%2524%257Bmakezineonline%257D%20%2528%2524%257BMAKE%257D%2529&utm_content=%2524%257BGoogleReader%257D