Rotational control of an omnidirectional mobile robot using a fuzzy servo controller. - Keigo Watanabe; Kiyotaka Izumi; Jun Tang 009; Fuhua Han (Adv. Robotics, 1997)

Development of an omnidirectional mobile robot with active dual-wheel casters. - Keigo Watanabe; Kiyotaka Izumi; Fuhua Han (Adv. Robotics, 1998)

Construction of an Omnidirectional Mobile Robot Platform Based on Active Dual-Wheel Caster Mechanisms and Development of a Control Simulator. - Fuhua Han; Takaaki Yamada; Keigo Watanabe; Kazuo Kiguchi; Kiyotaka Izumi (J. Intell. Robotic Syst., 2000)