Autonomous Control for an Omnidirectional Mobile Robot with the Orthogonal-Wheel Assembly
直交車輪機構を用いた全方向移動ロボット車の自律制御

Jun Tang, Keigo Watanabe, Katsutoshi Kuribayashi, Yamato Shiraishi
1999 Journal of the Robotics Society of Japan  
doi:10.7210/jrsj.17.51 fatcat:4cvekwuiyzbqbjniq3caym33pi