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The robot's conventional wheels allow for operation in natural, outdoor environments as compared to omnidirectional robots that use specialized wheels with small, slender rollers and parts that can easily become obstructed with debris and dirt. Additionally, the robot's active split offset caster design allows the robot to kinematically follow continuous but non-differentiable paths and heading angles regardless of its current kinematic configuration. The active split offset caster design also results in less scrubbing torque and therefore less energy consumption during steering as compared to actively steered caster designs. The focus of this paper is the robot's mechanical design as it relates to kinematic isotropy and experimental validation of the design.<\/jats:p>","DOI":"10.1017\/s0263574714001180","type":"journal-article","created":{"date-parts":[[2014,5,19]],"date-time":"2014-05-19T09:17:35Z","timestamp":1400491055000},"page":"1984-2000","source":"Crossref","is-referenced-by-count":3,"title":["Design and experimental characterization of an omnidirectional unmanned ground vehicle for unstructured terrain"],"prefix":"10.1017","volume":"33","author":[{"given":"Chenghui","family":"Nie","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marin","family":"Assaliyski","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Matthew","family":"Spenko","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,5,19]]},"reference":[{"key":"S0263574714001180_ref18","unstructured":"H. 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