Omni-directional wheel and moving device including the same

A moving device comprising:

• a moving body;
• and
• a plurality of omni-directional wheels arranged along a periphery of the moving body to move the moving body in multiple directions,
• wherein each of the plurality of omni-directional wheels comprises:
• a center wheel configured to rotate about a first rotation axis extending in a first direction;
• a plurality of peripheral wheels arranged along a circumference of the center wheel and configured to rotate about a second rotation axis extending in a second direction different from the first direction;
• and
• a plurality of variable supports provided on the center wheel and configured to respectively support the plurality of peripheral wheels,
• wherein each of the plurality of variable supports comprises a support frame extending in a direction away from the first rotation axis of the center wheel and supporting a rotating shaft of a peripheral wheel of the plurality of peripheral wheels,
• the center wheel comprises a plurality of first grooves, each of the plurality of first grooves configured to receive at least a portion of the support frame, and
• at least one of the plurality of variable supports is configured to absorb, when an impact force is applied to at least one of the plurality of peripheral wheels being supported by the at least one of the plurality of variable supports, the impact force by changing a distance between the center wheel and the at least one of the plurality of peripheral wheels.