Fast and Accurate Simulation of Mecanum Wheels with Passive Rollers Emulated by Fixed Joints and Anisotropic Friction. - Yoshito Okada; Kazuya Oguma; Kenta Gunji; Yoshiki Yokota; Hanif Aryadi; Shotaro Kojima; Ranulfo Bezerra; Masashi Konyo; Kazunori Ohno; Satoshi Tadokoro (ICAR, 2023)