Lara's Lego H-015 Sentry Droid

[kresty]

So I'm wondering about where to stick the omniwheels.  Oliver stuck them in the area of the lego greeblies on the "real" droid, which requires cutting holes in his castings.  Since our greeblies are real Lego, we're not too keen on chopping out space for them.  



So I was wondering about bringing them "in", inside the corners of the Lego greeblies. Catch is that provides a shorter "wheelbase", which could make it wobble more when driving. Also, any unsmooth surface would amplify the rocking as the faux wheels move up and down further than the real wheels would. Which might make them hit the ground more often and make things like switching to a ramp or going over a door sill more complicated.



While pondering this, it occurred to me that a "staggered" placement would probably still be drivable and get the bottoms of the wheels a couple cm further from the middle of the droid, helping the wheelbase a little. I'm not sure any oddities of this position are worth the improvement in wheelbase, though I imagine it would still drive omnidirectionally. Not sure if the math would differ from normal though.



Obviously, we could also position the wheels somewhere between Oliver's position and the inside position. But it seems like if we were going to make a void, maybe we should go "all the way". His aren't really very visible in that position, so part-way doesn't seem like it has many advantages over Oliver's position. (Though maybe it'd be easier to cut holes if we only moved them out a little bit more.)

Any thoughts?