OMNIDIRECTIONAL ROTATION DRIVE APPARATUS

An omnidirectional rotation drive apparatus includes a knuckle connected to a vehicle body, a wheel body unit rotatably fixed to the knuckle, a sub-wheel drive shaft rotatably supported on the wheel body unit, sub-wheel units rotatably supported on the wheel body unit, and transmission units connected to the sub-wheel drive shaft to transmit rotational force from the sub-wheel drive shaft to the sub-wheel units. The sub-wheel units are rotated depending on an angular velocity difference between the wheel body unit and the sub-wheel drive shaft.