10-Classic4OmniBot

Aim: Create a robot controlled by the Classic 4 using omni wheels and dc motors.
This robot would be known as the Classic 4 Omnibot. This would be a hack of the 'Classic 4' theraputic device I collaborate on at work to control some actuators to make a cool robot. So...I think it would be awesome to recreate: http://www.cs.cmu.edu/~pprk/
with the Classic 4 as the brain.
Here are some pics:

#10-Classic4OmniBot