The present invention relates to a motor-wheel for an omni-directional motion vehicle, comprising a ring-shaped structure with a central axis, presenting an outer radial surface and an inner radial surface, whereby the outer radial surface comprises a plurality of rollers that are rotatable about an inclined axis relative to the central axis, and the inner radial surface is adapted to be connected to a hub-motor such that the hub-motor is a load bearing element of the wheel.