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    • Suboptimal Omnidirectional Wheel Design and Implementation 

      Palacín Roca, Jordi; Martínez, David; Rubies, Elena; Clotet Bellmunt, Eduard (MDPI, 2021)
      The optimal design of an omnidirectional wheel is usually focused on the minimization of the gap between the free rollers of the wheel in order to minimize contact discontinuities with the floor in order to minimize the ...