Paper has been published in Mechanism and Machine Theory

This paper describes a method for inverse kinematics that is tolerant to degenerate wheels structures, specifically to control the motion of the transformable, pseudo-omnidirectional mobile platform. This project was supported by Samsung Electronic R&D.

Singularity-free solutions for inverse kinematics of degenerate mobile robots, Michael LiBretto, Yingxin Qiu, Euisun Kim, Kevin Pluckter, Nam Su Yuk, and Jun Ueda

https://authors.elsevier.com/a/1bLKl,28z4NIiD

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