Abstract: A modular omnidirectional robotic system for navigating nonplanar structures including pipes, poles, chimneys, and trees. The system comprises multiple modules connected by hinges in an open C-shape configuration. Each module contains an omnidirectional drive mechanism with compliant treads, motors, batteries, and controllers. Adjustable tensioning mechanisms adapt to different structure diameters and enable both external and internal operation. The open configuration allows navigation around complex geometries including T-junctions, branches, and sharp bends by aligning the open section with obstructions. Sharp turns are negotiated using the leading edge of the drive mechanism as a pivot point. A control system coordinates module movement using sensors. The system operates on ferrous and non-ferrous materials, features an adaptable payload area for tools and sensors, and can be scaled by adding modules for larger structures.