The inclined arrangement of the rollers creates two force components when driving the wheel. Forces of the individual wheels directed against each other are compensated via the axles and the frame. The remaining forces add up in the direction of the vehicle.
In this way, any manoeuvre can be generated by controlling the direction of rotation and the speed of rotation of the individual wheels accordingly.
Straight ahead: all wheels move at the same speed and in the same direction.
Sideways travel: each wheel turns in the opposite direction to the neighbouring one, all wheels move at the same speed
Diagonal travel: 2 wheels each move along the diagonal at the same speed and all wheels with the same direction of rotation.
Cornering: 2 wheels on the same side move at the same speed and all wheels turn in the same direction.
Rotation/axis: 2 wheels each move across the diagonal at the same speed and all wheels with the same sense of rotation
Rotation: one side rotates in the opposite direction to the other at the same speed.