Two wheel configuration

(2 active + 2 passive caster wheels) Omnidirectional mobile robot with two active wheels, two caster wheels, an onboard CPU and a master battery with a PMU. Payload: 500 kg

(3 active wheels) Omni-directional mobile robot with three active wheels, an onboard CPU, and a master battery with a PMU. Payload: 375 kg

(4 active wheels) Omni-directional mobile robot with four active wheels, a CPU brick, and a master battery with a PMU. Payload: 500 kg