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.

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.

An omnidirectional wheel is provided. The omnidirectional wheel includes a support unit, a major wheel, a first minor wheel and a second minor wheel. The major wheel is annular and is rotatably disposed on the support unit. The first minor wheel is rotatably disposed on the support unit. The first minor wheel is disposed on one side of the major wheel. The second minor wheel is rotatably disposed on the support unit. The second minor wheel is disposed on the other side of the major wheel. The omnidirectional wheel can easily roll over an obstacle when the omnidirectional wheel rolls laterally or forward.

A manufacturing apparatus for a drive disk includes: an upper member and a lower member each including a base and protrusions. Each protrusion is defined by a plurality of surfaces including a first side surface inclined with respect to opposed surfaces of the drive disk and a second side surface parallel to the opposed surfaces. The first side surface of the protrusion of the upper member and the first side surface of the protrusion of the lower member are parallel to each other and face away from each other. The second side surface of the protrusion of the upper member and the second side surface of the protrusion of the lower member face away from each other. The first side surface of the protrusion of the upper member and the first side surface of the protrusion of the lower member come into contact with each other to form the slot.

An omni-directional wheel includes: a center wheel configured to rotate about a first rotation axis extending in a first direction; a plurality of peripheral wheels arranged along a circumference of the center wheel and configured to rotate about a second rotation axis extending in a second direction different from the first direction; and a plurality of variable supports provided on the center wheel and configured to respectively support the plurality of peripheral wheels. At least one of the plurality of variable supports is configured to absorb, when an impact force is applied to at least one of the plurality of peripheral wheels being supported by the at least one of the plurality of variable supports, the impact by changing a distance between the center wheel and the at least one of the plurality of peripheral wheels.

A running wheel for a patient positioning device (30) is provided. The running wheel has a wheel (1) and a receiving device (4) for rotatably receiving the wheel (1) around a first rotational axis (5), which is arranged centrally with respect to a circumference of the wheel (1). The wheel (1) has a wheel body (3), and multiple circumferential castors (7), each having a second rotational axis (8) arranged in a direction tangential to a circumference of the wheel (1), wherein the circumferential castors (7) form a bearing surface of the wheel (1).

A vehicle including a plurality of truck assemblies is provided. Each truck assembly includes a truck axle, a first wheel fixed to the truck axle, a second wheel selectively coupled to the truck axle, a motor configured to rotate the truck axle, and a clutch operatively coupled to the second wheel. The clutch is positionable between a coupled position and a decoupled position. When the clutch is in the coupled position, the second wheel rotates with the truck axle, and when the clutch is in the decoupled position, the second wheel is free to rotate relative to the truck axle.

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 manufacturing apparatus for a drive disk includes: an upper member and a lower member each including a base and protrusions. Each protrusion is defined by a plurality of surfaces including a first side surface inclined with respect to opposed surfaces of the drive disk and a second side surface parallel to the opposed surfaces. The first side surface of the protrusion of the upper member and the first side surface of the protrusion of the lower member are parallel to each other and face away from each other. The second side surface of the protrusion of the upper member and the second side surface of the protrusion of the lower member face away from each other. The first side surface of the protrusion of the upper member and the first side surface of the protrusion of the lower member come into contact with each other to form the slot.

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.