Has anyone had any success with covering wheels with tape?
If so what type of tape did you use and how did you prevent it from just sticking to the floor and peeling off the wheel?
Couple thoughts that might help you.
Double-sided tape is one option; either like double-sided scotch tape, or the double-sided (thin) foam tape is an option. Two problems-if it's sticky enough to really stick to your wheels- depending on what your wheels are made of, you may want to put/paint something around them that the tape sticks to well (maybe rubber cement?). Second problem is dirt pick-up/cleaning. We played with this some before going with moulding tires out of polyurethane rubber; good traction when fresh and clean. However, even on a reasonably cleaned floor, tape will quickly and very efficiently pick up dust/dirt, and the stickyness will go away fast. Cleaning (we used WD-40 to clean poly wheels) is a major problem with tape, because anything that's a good cleaner will pretty quickly remove the tape stickyness along with the dirt.
The bot that won State here used nice, wide black foam rubber (from an RC vehicle). Those provide decent traction, but not great. They'd put a number of wide rubber bands around those wheels; its a matter of finding the right size for your wheels. Rubber band rubber provides a very good coefficient of friction, and its cleanable between rounds. Definately worth checking out.