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In robotics, rotacasters or omni wheels are often very useful.

It's possible to buy LEGO-compatible ones from some third parties, here's one random example:

enter image description here

Unfortunately, LEGO has yet to make any themselves, which means if you are looking for a purist solution (because of robotics competition rules for example) you are out of luck.

Or are you? It might be tough to make a small one, but surely it's possible to build one.

What are some good rotacaster / omni wheel designs?

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I have copied a design by Isogawa Yoshihito

omni wheel

I prefer it over the Lambert Varias design as the wheels are positioned more radially

More pictures in this EuroBricks thread: https://www.eurobricks.com/forum/index.php?/forums/topic/76297-isogawayoshihitos-lego-technic-omni-wheel-crab/

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Here's a design I've been using, based on this model by Lambert Varias:

enter image description here

It's not a perfect circle, but it is relatively small all things considered:

enter image description here

It's pretty simple, but here's a partial disassembled version to better show what goes into it:

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Parts shown:

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Just stumbled across this little gem of a Lego omni wheel!

enter image description here

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    Which is also by Isogawa Yoshihito, besides it being slightly more esthetic, I do not consider it an improvement on his previous design.
    – Michael Verschaeve
    Nov 14, 2020 at 14:46

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