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3. Kinematics and mobility of wheeled robots
As unicycle or car-type robots are non-holonomic, they cannot move sideways. A platform with all wheels steered (zero caster wheels) can move sideways, but only after the wheels have been reoriented at 90°. This is called omnidirectional, but is generally non-holonomic. However, some omnidirectional platform architectures are also holonomic.
3.1 Omnidirectional robots
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Holonomic platform with conventional wheels
In a highly constrained environment, it is necessary to have an omnidirectional system to avoid having to make complex maneuvers which are sometimes very difficult to generate automatically. If, in addition, rapid response and high reactivity are required, we may have to opt for so-called holonomic and...
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