Omni-Directional Walking Machine

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I’ve built quite a few omni-directional robots using various types of omni-directional wheels. Normal omni-wheels are a large wheel with smaller wheels around its circumference, allowing it to be driven in one axis, and slide passively in the other.
Using three omni-wheels allows a vehicle to move in any direction, although I’ve also built machines with one omni wheel.
Most of my omni-wheel vehicles worked ok on flat ground, but they weren’t great at climbing over obstacles. So in this video I’m going to build a omni-directional walking machine which should be better at stepping over things.

CAD and Code:

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Former toy designer, current YouTube maker and general robotics, electrical and mechanical engineer, I’m a fan of doing it yourself and innovation by trial and error. My channel is where I share some of my useful and not-so-useful inventions, designs and maker advice. Iron Man is my go-to cosplay, and 3D printing can solve most issues - broken bolts, missing parts, world hunger, you name it.

XRobots is the community around my content where you can get in touch, share tips and advice, and more build FAQs, schematics and designs are also available.
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