298K views · 5.4K reactions | Agile Omnidirectional Mobile Robot with Gravity-Compensated Wheel-Leg Mechanisms for Human Environment - Changeable supporting polygon with a small footprint like humans. - Holonomic omnidirectional mobile robot with wheel-leg mechanisms - 4 mecanum wheels with gravity-compensated 2-DOF legs Video Credit: IRIM LAB KOREATECH #robotics #engineering #technology #robots #roboticengineering #research | Wevolver.com | Facebook

706K views · 1.2K reactions | Omni-wheels you can buy are normally...

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,