An omni-wheel including a hub, a plurality of rollers, and a braking system. The plurality of rollers are circumferentially arranged about the hub and arranged radially outward from the hub, where each roller of the plurality of rollers is secured to the hub by a roller mount. The braking system includes a first braking lever, having a first braking surface, pivotally secured to the roller mount, a second braking lever, having a second braking surface, pivotally secured to the roller mount, opposite the first braking lever, and an actuator arranged to rotate the first braking lever in a first rotational direction and the second braking lever in a second rotational direction. The first braking surface and the second braking surface contact at least one roller of the plurality of rollers when the first braking lever and the second braking lever are rotated by the actuator.