Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR). - Javier Moreno 001; Eduard Clotet; Ruben Lupiañez; Marcel Tresanchez; Dani Martínez; Tomàs Pallejà; Jordi Casanovas; Jordi Palacín (Sensors, 2016)