Using existing Lego wheels or parts to emulate the holonomic wheel can work but the movement is often awkward and very bumpy.
What is needed is a true LEGO compatible holonomic wheel that is perfectly circular and Lego compatible. The holonomic wheel featured here can be easily mounted using existing Lego axles. They fitted as easily as any standard Lego wheel.
Robots fitted with holonomic wheels achieve 2 degrees of freedom. They can roll foward, backward and sideways too. They can revolve around an object that you cannot achieve using normal wheels.
Sit back and enjoy the videos. Thank you for watching.
WRO 2007 World Robot Olympiad 2nd prize using Holonomic wheels
Lego NXT Omnidirectional robot with omniwheels using Holonomic wheels