I’ve built quite a few omni-directional robots using various types of omni-directional wheels. Normal omni-wheels are a large wheel with smaller wheels around its circumference, allowing it to be driven in one axis, and slide passively in the other. Using three omni-wheels allows a vehicle to move in any direction, although I’ve also built machines with one omni wheel. Most of my omni-wheel vehicles worked ok on flat ground, but they weren’t great at climbing over obstacles. So in this video I’m

The original concept for this wheel was based on a project from Osaka University. The wheel is an omni directional wheel, normally these have smaller wheels around the circumference of a bigger wheel, and I’ve done quite a few omni-wheel projects in my channel. In this case though, it’s a ball. The wheel is split into two hemispheres which can rotate freely and independently, this allows the wheel to be driven actively in one axis and passively in the other. There’s only one small issue though,