Fuhua Han, Takaaki Yamada, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi. Construction of an Omnidirectional Mobile Robot Platform Based on Active Dual-Wheel Caster Mechanisms and Development of a Control Simulator. Journal of Intelligent and Robotic Systems, 29(3):257-275, 2000. [doi]
Abstract is missing.