Development of a control system for an omni-directional vehicle with step-climbing ability.

Daisuke Chugo Kuniaki Kawabata Hayato Kaetsu Hajime Asama Taketoshi Mishima Development of a control system for an omni-directional vehicle with step-climbing ability. 55-71 2005 19 Advanced Robotics 1 http://dx.doi.org/10.1163/1568553053020296 db/journals/ar/ar19.html#ChugoKKAM05