Omni wheels/swerve drive?

Would someone please explain how Omni-wheels work? Or swerve drive for that matter?

thanks!

omni-directional wheels have smaller wheels perpendicular to the main frame of the wheel around the circumferance of the wheel, enabling it to roll along the perpendicular wheels in a sideways direction.

the swerve kit enables you to drive like a car, with rotating wheels.

sorry if my explanations are a bit rough,
-Andrew

There’s a decent explanation of a swerve drive here and a YouTube video that shows one in operation.

Wikipedia has a write-up of omniwheels here.

I find that I can often get a description of a concept I don’t know from searching on wikipedia, as well as a visual grasp from YouTube videos. Not exactly high level research but a good place for for the “technically challenged” like me to start.