Design and Control of the Active Split Offset Caster based Omni-directional Vehicle
능동 분할 오프셋 캐스터 기반 전방향 차량의 설계 및 제어

Han-Gyeol Kim, Do Ngoc Huan, Jong-Chan Park, Dong-Soo Kwon
2013 The Journal of Korea Robotics Society  
This research would investigate deeply the operation of an omni-directional mobile robot that is able to move with high acceleration. For the high acceleration performance, the vehicle utilizes the structure of Active Split Offset Casters (ASOCs). This paper is mainly focused on inverse kinematics of the structure, hardware design to secure durability and preserve the wheels' contact to the ground during high acceleration, and localization for the real time position control.
doi:10.7746/jkros.2013.8.2.075 fatcat:wsznc5w5izhxffjqlvkt2hzl3q