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Research on several kinds of steering mode of OWMR

FU Yi-li,LI Han,XU He,MA Yu-lin(Institute of Robotics,Harbin Institute of Technology,Harbin 150001,China)  
The omni-directional wheeled mobile robot(OWMR) has been extensively researched in recent years because of having all 3 DOF on levelsh,igh flexibility and maneuverability etc.Whether the four-wheeled-driving OWMR could reach the appointed place depend on steering and driving modes of each wheel while avoiding the barriers.The quality of several typical steering modes was analyzed on base of building kinematics mode while combining the data of experiments,and it will offer some valuable reference on OWMR kinematics in the future.
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