Falahi, Mohsen2020-10-052020-10-052020-10-052020https://infoscience.epfl.ch/handle/20.500.14299/172218The 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.patentEP3934920EP3934920US2022169107EP3934920WO2020178337EP370530965729095