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Are Ball Shaped Wheels Practical?
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The Brilliant Engineering of Mecanum Wheels!
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How to Use Mecanum Wheels in 200 Seconds
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Clever Autonomy for Mobile Robots - KUKA Navigation Solution
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Mecanum Wheel - SolidWorks
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Modern Robotics, Chapter 13.2: Omnidirectional Wheeled Mobile Robots (Part 1 of 2)
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PID control (English version)
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