This is my proof-of-concept design for a holonomic, omnidirectional ball-drive for a mobile robot platform. The ball can drive in any direction along a floor, and a mobile platform would use at least 3 such driven balls. For driving the ball, I designed custom omniwheels consisting of rollerblade bearings suspended between laser-cut-steel-flanges via wire rope for compactness. Some high-level details of the design can be found in my patent disclosure to Stanford's patent office. Unfortunately, I never took this idea beyond proof-of-concept as I had to return to my dissertation work.