Omni-directional drive device and omni-directional vehicle using the same

The omni-directional drive device comprises a main wheel comprising an endless annular member rotatable around a center of cross section perpendicular to a corresponding tangential line, electric motors (R and L) for producing rotative forces around the rotation axis of the main wheel and around the center of cross section perpendicular to a corresponding tangential line of the main wheel and an arrangement (rotary members (R and L) fitted with free rollers (R and L)) for converting the rotational forces of the electric motors (R and L) to the rotational forces around the rotation center of the main wheel and around the center (C) of cross section perpendicular to a corresponding tangential line of the main wheel.