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- type of omnidirectional wheel (en)
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- Picture a round platform with three motors underneath, each governing the motion of two wheels that look like miniature balloon tires. The wheels in each pair are mounted in a cage at right angles to each other; the motor can rotate the cage so that one wheel or the other is touching the ground at any one time. By configuring the three pairs of wheels to allow the same type of motion found in three pivoting casters, and by changing the relative speeds of the motors, Killough can make his robotic platform rotate, follow a straight or curved path, and even rotate while moving forward. (en)
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- "1997 Discover Awards: Automotive & Transportation: Cleaner Than Air" (en)
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