ME Robotics

Omnidirectional Modular Robot

This project’s goal was to develop an easily reproducible robot for use in ECE216 for students to learn about motor controllers. The robot was required to be modular, so each wheel has its own module that can be controlled independently and can move/rotate in any direction.


  • Francesca Daszak
  • William Most
  • Kai Avni
  • Lianming Hu


Thomas M. Howard, PhD, Electrical and Computer Engineering, UR


As a team, we were tasked with the creation of a robot for the University of Rochester ECE course 216. To achieve this, we have designed a fully modular robot where each wheel is capable of full 360-degree motion as well as translational motion, independent of the other wheels as it can be attached and detached at any time. This allows for more direct control while programming, which is the purpose of these robots, as well as a larger range of motion so it can go through more complex passages. We created this using primarily 3D printed parts to ensure relatively easy assembly for many robots, and each wheel module consists of a few large frames, one that will rotate with the wheel and the rest that will provide structural stability and house motors.

CAD model of an individual wheel module, the darker blue represents the rotational frame and the lighter blue is stationary. The gear system allows the frame and wheel to rotate independently.
Video demonstrating a wheel module’s independent steering and wheel rotation capabilities.
Electrical block diagram for one wheel module.
Project poster summarizing the project’s objectives, process, and results.