The following publications are possibly variants of this publication:
- Tip-over stability control for a holonomic omnidirectional mobile robot with active dual-wheel caster assemblies using SGCMGM. Juhairi Aziz Safar, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai. iros 2013: 4866-4871 [doi]
- Development of an omnidirectional mobile robot with active dual-wheel castersKeigo Watanabe, Kiyotaka Izumi, Fuhua Han. ar, 13(3):239-240, 1998. [doi]
- Construction of an Omnidirectional Mobile Robot Platform Based on Active Dual-Wheel Caster Mechanisms and Development of a Control SimulatorFuhua Han, Takaaki Yamada, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi. jirs, 29(3):257-275, 2000. [doi]