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,