Almost Holonomic Drive Built With The NXT

I have been working on a few different designs for a Lego Holonomic Drive or
Killough Platform. I almost have the components  right with the robot that I
have built here:

http://www.robotthoughts.com/index.php/lego/archives/2006/12/14/lego-mindstorms-nxt-holonomic-drive-killough-platform-rev-1/

Has anyone else built this type of platform using the NXT set?

I found this one tonight using the RCX:

http://www.philohome.com/rama/rama.htm

and will probably take a stab at re-creating it on the NXT. If only we had
smaller NXT motors without the built in rotation sensors.

Have Fun!

Rich