An omniwheel is provided, which includes an omniwheel shaft, two wheel
covers fixed at two ends of the omniwheel shaft, and a plurality of
roller sets. The roller sets are coupled between the two wheel covers.
Each of the roller sets has a plurality of rollers and at least one
coupler, and each of the rollers has a roller shaft. The roller shafts
are coupled with each other via the coupler, and each of the roller sets
is respectively coupled to the wheel covers via the rollers disposed at
two ends of the roller set. The omniwheel shaft and the roller shaft are
inclined with respect to each other at an angle.