A Mecanum wheel includes a first wheel rim and a second wheel rim disposed opposing the first wheel rim. The Mecanum wheel also includes a first hub coupled to the first wheel rim and a second hub coupled to the second wheel rim. The Mecanum wheel further includes a plurality of rollers disposed between the first wheel rim and the second wheel rim. The second hub is depressed in a direction facing the first hub to form a receiving space configured to receive a motor. The first hub and the second hub are both located on a same side of a middle plane having an equal distance to the first wheel rim and the second wheel rim.

A four-wheel chassis comprising a body, and a front wheel assembly and a rear wheel assembly detachably coupled to the body. After detached from the body, one of the front wheel assembly and the rear wheel assembly independently moves as a two-wheel chassis. The one of the front wheel assembly and the rear wheel assembly is connected to a wheel driving controller that controls wheels of the two-wheel chassis.

An omnidirectional wheel includes a plurality of first and second rollers, a plurality of roller support parts, a wheel hub, and a fixing member. The wheel hub has a shaft portion and an extension. The fixing member and an elastic body are disposed to surround the shaft portion. Spaces are provided between the elastic body and the shaft portion, or between the elastic body and the roller support parts. A plurality of first pins and second pins are formed to protrude from the extension and the fixing member, respectively. The elastic body has a plurality of first holes and second holes. The first holes and the second holes are shifted from each other in a circumferential direction of the elastic body.

Provided is an omni wheel including a suspension structure, which may sustain an increased load and drive on a rough terrain such as a stairway or a bumpy ground, and which includes a flywheel unit receiving power from outside and rotating around a rotation axis; suspension units formed radially on opposite surfaces of the flywheel unit; and a ground wheel having opposite ends connected to ends of a pair of the suspension units formed on one surface and the other surface of the flywheel unit, respectively.

A brake module is provided. The brake module is for braking at least one omnidirectional wheel, and the omnidirectional wheels include at least one major wheel and a plurality of minor wheels. The brake module includes a base, a first brake arm, a first major brake block and a first minor brake block. The first major brake block is disposed on the first brake arm. The first minor brake block is disposed on the first brake arm. When the first brake arm is in a first orientation, the first major brake block and the first minor brake block are separated from the omnidirectional wheel, and when the first brake arm is in a second orientation, the first major brake block abuts the major wheel, and the first minor brake block abuts one of the minor wheels.

An omnidirectional wheel whose outer circumference surface is formed by pluralities of rollers, and includes a rotating part that rotates around a rotation axis. A plurality of supports are arranged in a circumferential direction of the rotating part and each mounted on the rotating part. The rollers include a plurality of first rollers and a plurality of second rollers. Each support has a first arm supporting one end side of a corresponding first roller of the plurality of first rollers, and a second arm supporting the other end side of the corresponding first roller. A corresponding second roller of the plurality of second rollers is supported by the first arm of one of two supports that are adjacent to each other in the circumferential direction and the second arm of the other one of the two supports.

In an aspect, a self-balancing two-wheeled vehicle is provided, having a body, and first and second wheels rotatably coupled to the body. The second wheel has at least one lateral roller rotatable about an axis that is one of oblique and orthogonal to a rotation axis of the second wheel. At least one motor is coupled to the second wheel to control rotation of the second wheel and the at least one lateral roller. At least one sensor is coupled to the body to generate orientation data therefor. A control module is coupled to the at least one motor to control operation thereof at least partially based on the orientation data generated by the at least one sensor.

In an aspect, a self-balancing two-wheeled vehicle is provided, having a body, and first and second wheels rotatably coupled to the body. The second wheel has at least one lateral roller rotatable about an axis that is one of oblique and orthogonal to a rotation axis of the second wheel. At least one motor is coupled to the second wheel to control rotation of the second wheel and the at least one lateral roller. At least one sensor is coupled to the body to generate orientation data therefor. A control module is coupled to the at least one motor to control operation thereof at least partially based on the orientation data generated by the at least one sensor.

In an aspect, a self-balancing two-wheeled vehicle is provided, having a body, and first and second wheels rotatably coupled to the body. The second wheel has at least one lateral roller rotatable about an axis that is one of oblique and orthogonal to a rotation axis of the second wheel. At least one motor is coupled to the second wheel to control rotation of the second wheel and the at least one lateral roller. At least one sensor is coupled to the body to generate orientation data therefor. A control module is coupled to the at least one motor to control operation thereof at least partially based on the orientation data generated by the at least one sensor.

A rotary drive device in a mobile body includes a main wheel and a pair of drive assemblies opposing each other and each driving the main wheel. The main wheel includes driven rollers. One of the pair of drive assemblies includes a motor, a motor case, a drive force transmission, and driving rollers. The driving rollers are in the drive force transmission along a circumferential direction, and contact at least a portion of the driven rollers from one side of the rotary drive device of the axial direction. The drive force transmission rotates to transmit a drive force of the motor to the main wheel via the driving rollers. At least a portion of the motor case opposes at least a portion of the driving rollers in the axial direction.