Comparative Modeling and Experimental Validation of Two Four-Wheel Omnidirectional Locomotion Architectures for a Modular Mobile Robot

This paper presents a comparative modeling and experimental validation study for a modular four-wheel omnidirectional mobile robot, focusing on two locomotion architectures implemented on the same platform: four omni wheels (90° rollers) and four Mecanum wheels (45° rollers). Both configurations wer...

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Autors principals:	Iosif-Adrian Maroșan, Alexandru Bârsan, George Constantin, Sever-Gabriel Racz, Radu-Eugen Breaz, Claudia-Emilia Gîrjob, Mihai Crenganiș, Cristina-Maria Biriș
Format:	Artigo
Idioma:	Inglês
Publicat:	MDPI AG 2026-04-01
Col·lecció:	Applied Sciences
Matèries:	omnidirectional mobile robot omni wheels Mecanum wheels dynamic modeling Simscape Multibody input-power estimate
Accés en línia:	https://www.mdpi.com/2076-3417/16/8/3646
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