2016
Kinematic modeling and simulation of active-caster robotic drive with a ball transmission (ACROBAT-S)
IROS 2016poster
In this paper, a new type of an active-caster with a single ball transmission (ACROBAT-S) is proposed. The proposed ball transmission is a novel mechanism which realizes combining of two motor powers together to rotate the single ball in a 2Dway and simultaneously distributing the combined power to…