An omnidirectional wheel is provided. The omnidirectional wheel includes a plurality of major brackets, a plurality of minor brackets, a plurality of major wheels and a plurality of minor wheels. The major brackets include a first major bracket. The minor brackets include a first minor bracket. The major wheels include a first major wheel, wherein the major wheels are connected to the respective major brackets, the first major wheel is connected to the first major bracket, the first major wheel is rotatable around a first axis, and the first major bracket extends in a first extending direction. The minor wheels include a first minor wheel, wherein the minor wheels are connected to the respective minor brackets, the first minor wheel is connected to the first minor bracket, the first minor wheel is rotatable around a second axis, and the first minor bracket extends in a second extending direction.
