A stick-slip omnidirectional powertrain for low-cost swarm robotics: Mechanism, calibration, and control - Klingner, John; Kanakia, Anshul; Farrow, Nicholas; Reishus, Dustin; Correll, Nikolaus (Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014)
Keywords: Calibration; DC motors; Force; Legged locomotion; Robot kinematics; Vibrations