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Holonomic bases, and drive shafts and roller assemblies that can be used in the holonomic bases. In some implementations, a holonomic base includes at least two pairs of roller assemblies, with each of the pairs being coupled to a corresponding drive shaft. In some of those implementations, each of

Holonomic bases, and drive shafts and roller assemblies that can be used in the holonomic bases. In some implementations, a holonomic base includes at least two pairs of roller assemblies, with each of the pairs being coupled to a corresponding drive shaft. In some of those implementations, each of the roller assemblies of each pair includes three roller segments that are each coupled to the corresponding drive shaft and that each include an exposed outward facing spherical zone that approximates a portion of the surface of a sphere. The roller segments of each roller assembly are in fixed relation to one another relative to the rotational axis of a drive shaft to which the roller assembly is coupled, but the roller segments each freely rotate about a corresponding roller segment rotational axis that extends outward from the drive shaft.

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1. An apparatus for a holonomic base, comprising: a drive shaft comprising a first longitudinal end, a second longitudinal end, and a drive shaft rotational axis extending between the first longitudinal end and the second longitudinal end;a first roller assembly and a second roller assembly each com

1. An apparatus for a holonomic base, comprising: a drive shaft comprising a first longitudinal end, a second longitudinal end, and a drive shaft rotational axis extending between the first longitudinal end and the second longitudinal end;a first roller assembly and a second roller assembly each comprising three roller segments each coupled to the drive shaft, the three roller segments of the first roller assembly and the three roller segments of the second roller assembly each comprising an exposed exterior spherical zone;wherein the spherical zone of each of the roller segments comprises a base and an opposite top, wherein the base has a base circumference that is larger than any top circumference of the top, and wherein the base is more proximal to the drive shaft than the top;wherein each of the three roller segments of the first roller assembly rotates freely about a corresponding one of three roller segment rotational axes that each extend outward from the drive shaft through the corresponding roller segment of the first roller assembly;wherein the three roller segment rotational axes are spaced approximately one-hundred-twenty degrees apart from one another relative to the drive shaft rotational axis;wherein each of the three roller segments of the second roller assembly rotates freely about a corresponding one of three additional roller segment rotational axes that each extend outward from the drive shaft through the corresponding roller segment of the second roller assembly;wherein the three additional roller segment rotational axes are spaced approximately one-hundred-twenty degrees apart from one another relative to the drive shaft rotational axis; andwherein the roller segments of the first roller assembly and the roller segments of the second roller assembly are in fixed relation to one another relative to the drive shaft rotational axis. 2. The apparatus of claim 1, wherein the top of the spherical zone defines a circle having the top circumference that is smaller than the base circumference of the base. 3. The apparatus of claim 2, wherein the additional roller segment rotational axes of the roller segments of the second roller assembly are offset, relative to the drive shaft rotational axis, approximately sixty degrees from the roller segment rotational axes of the roller segments of the first roller assembly. 4. The apparatus of claim 3, wherein the roller segments of the first roller assembly and the roller segments of the second roller assembly each further comprises a corresponding one of six roller balls, each of the six roller balls being freely rotating, being coupled to a corresponding one of the roller segments, and extending above the top of the spherical zone of the corresponding one of the roller segments. 5. The apparatus of claim 1, further comprising a cover that covers a first opening between the bases of the roller segments of the first roller assembly, wherein the cover rotates about the drive shaft axis in unison with the roller segments of the first roller assembly. 6. The apparatus of claim 5, further comprising an additional cover that covers a second opening between the bases of the roller segments of the first roller assembly, wherein the additional cover rotates about the drive shaft axis in unison with the roller segments of the first roller assembly. 7. The apparatus of claim 1, wherein each of the roller segments of the first roller assembly further comprises a chamfered portion that extends inward from the base toward the drive shaft and that abuts the chamfered portion of the other roller segments of the first roller assembly. 8. The apparatus of claim 1, further comprising three first roller assembly roller segment shafts, each of the first roller assembly roller segment shafts coupled to a corresponding one of the three roller segments of the first roller assembly, coupled to the drive shaft, and extending along a corresponding one of the roller segment rotational axes. 9. The apparatus of claim 8, wherein each of the roller segments of the first roller assembly rotates about a corresponding one of the first roller assembly roller segment shafts and wherein each of the first roller assembly roller segment shafts is non-rotatably coupled to the drive shaft. 10. The apparatus of claim 9, wherein each of the roller segments of the first roller assembly is over-molded onto a corresponding insert and wherein each of the inserts is rotatably coupled to a corresponding one of the first roller assembly roller segment shafts. 11. The apparatus of claim 1, further comprising: a first frame coupled to the drive shaft; anda second frame coupled to the drive shaft;wherein the first frame couples the roller segments of the first roller assembly to the drive shaft; andwherein the second frame couples the roller segments of the second roller assembly to the drive shaft. 12. The apparatus of claim 11, wherein the drive shaft comprises a first keying feature at a first location along the drive shaft and a second keying feature at a second location along the drive shaft,wherein the first frame is coupled to the drive shaft at the first location and the second frame is coupled to the drive shaft at the second location, andwherein the first keying feature restricts options for coupling of the first frame to the drive shaft at the first location and the second keying feature restricts options for coupling of the second frame to the drive shaft at the second location. 13. The apparatus of claim 12, wherein the first keying feature and the second keying feature collectively restrict the roller segment rotational axes of the roller segments of the second roller assembly to being offset, relative to the drive shaft rotational axis, approximately sixty degrees from the roller segment rotational axes of the roller segments of the first roller assembly. 14. An apparatus for a holonomic base, comprising: a drive shaft comprising a first longitudinal end, a second longitudinal end, and a drive shaft rotational axis extending between the first longitudinal end and the second longitudinal end;a first roller assembly and a second roller assembly each comprising at least three roller segments each coupled to the drive shaft, the roller segments of the first roller assembly and the roller segments of the second roller assembly each comprising: an exposed exterior spherical zone, anda corresponding roller ball;wherein the spherical zone of each of the roller segments comprises a base and an opposite top, wherein the base has a base circumference that is larger than a top circumference of the top, and wherein the base is more proximal to the drive shaft than the top;wherein each of the roller balls is freely rotating, is coupled to a corresponding one of the roller segments, and extends above the top of the spherical zone of the corresponding one of the roller segments;wherein each of the roller segments of the first roller assembly rotates freely about a corresponding one of at least three roller segment rotational axes that each extend outward from the drive shaft through the corresponding roller segment of the first roller assembly;wherein the roller segment rotational axes are spaced equidistant to one another relative to the drive shaft rotational axis;wherein each of the roller segments of the second roller assembly rotates freely about a corresponding one of at least three additional roller segment rotational axes that each extend outward from the drive shaft through the corresponding roller segment of the second roller assembly;wherein the additional roller segment rotational axes are spaced equidistant to one another relative to the drive shaft rotational axis; andwherein the roller segments of the first roller assembly and the roller segments of the second roller assembly are in fixed relation to one another relative to the drive shaft rotational axis. 15. The apparatus of claim 14, further comprising a cover that covers a first opening between the bases of the roller segments of the first roller assembly, wherein the cover rotates about the drive shaft axis in unison with the roller segments of the first roller assembly. 16. The apparatus of claim 15, further comprising an additional cover that covers a second opening between the bases of the roller segments of the first roller assembly, wherein the additional cover rotates about the drive shaft axis in unison with the roller segments of the first roller assembly. 17. The apparatus of claim 14, wherein each of the roller segments of the first roller assembly further comprises a chamfered portion that extends inward from the base toward the drive shaft and that abuts the chamfered portion of the other roller segments of the first roller assembly. 18. The apparatus of claim 14, further comprising first roller assembly roller segment shafts, each of the first roller assembly roller segment shafts coupled to a corresponding one of the roller segments of the first roller assembly, coupled to the drive shaft, and extending along a corresponding one of the roller segment rotational axes. 19. The apparatus of claim 18, wherein each of the roller segments of the first roller assembly rotates about a corresponding one of the first roller assembly roller segment shafts and wherein each of the first roller assembly roller segment shafts is non-rotatably coupled to the drive shaft. 20. An apparatus for a holonomic base, comprising: a drive shaft comprising a first longitudinal end, a second longitudinal end, a drive shaft rotational axis extending between the first longitudinal end and the second longitudinal end, a first keying feature at a first location along the drive shaft and a second keying feature at a second location along the drive shaft;a first roller assembly and a second roller assembly each comprising a plurality of roller segments each coupled to the drive shaft, the roller segments of the first roller assembly and the roller segments of the second roller assembly each comprising an exposed exterior spherical zone;wherein the spherical zone of each of the roller segments comprises a base and an opposite top, wherein the base has a base circumference that is larger than a top circumference of the top, and wherein the base is more proximal to the drive shaft than the top;wherein each of the roller segments of the first roller assembly rotates freely about a corresponding one of a plurality of roller segment rotational axes that each extend outward from the drive shaft through the corresponding roller segment of the first roller assembly;wherein the roller segment rotational axes are spaced equidistant to one another relative to the drive shaft rotational axis;wherein each of the roller segments of the second roller assembly rotates freely about a corresponding one of a plurality of additional roller segment rotational axes that each extend outward from the drive shaft through the corresponding roller segment of the second roller assembly;wherein the additional roller segment rotational axes are spaced equidistant to one another relative to the drive shaft rotational axis;a first frame coupled to the drive shaft at the first location and coupling the roller segments of the first roller assembly to the drive shaft;a second frame coupled to the drive shaft at the second location and coupling the roller segments of the second roller assembly to the drive shaft;wherein the first keying feature restricts the coupling of the first frame to the drive shaft at the first location and the second keying feature restricts the coupling of the second frame to the drive shaft at the second location; andwherein the first keying feature and the second keying feature collectively restrict the roller segment rotational axes of the roller segments of the second roller assembly to being offset, relative to the drive shaft rotational axis, from the roller segment rotational axes of the roller segments of the first roller assembly.