If we use omnichains they obviously can’t cross over each other, so we would need to use a configuration somewhat like this :

beltsSo one long chain can handle pitch and the other two handle roll. The sphere is more likely to be balanced for roll so the pitching chain can use a little more help and contact from the extra rollers.

The new rollers are 18mm across and you get about four per 100mm. We’ll probably need a base about a meter across which will give a maximum of about 40/50 rollers on the pitch chain and a little less on the roll chains. This would be highly efficient compared to omni wheels since their very nature as wheels give less traction. Tracks do lose a lot of power (about 30%) due their nature but it should be fairly simple to experiment to see exactly how many rollers we would need.