Vehicle equipped with omni-directional wheels

A vehicle comprising:

• a chassis including a bogie supporting front wheels and middle wheels and a rocker supporting rear wheels;
• a grounding part that supports the vehicle by grounding to a ground surface;
• a moving mechanism to protrude the grounding part from the bottom of the vehicle toward
• the ground surface;
• a vehicle speed sensor that detects a speed of the vehicle;
• and
• an electronic control unit configured to:
• determine whether the vehicle is stopped based on the speed of the vehicle detected by the vehicle speed sensor;
• and
• in response to determining that the vehicle has stopped, control the moving mechanism so as to ground the grounding part to the ground surface;
• wherein the bogie is swingably supported with respect to the rocker,
• wherein the front wheels and the rear wheels are omni-directional wheels, and the middle wheels are normal wheels, and
• wherein the moving mechanism is installed on the rocker.