Motion and squeeze force control for omnidirectional wheeled mobile robots. - Xuyue Deng; Dongbin Zhao; Jianqiang Yi; J. T. Wen (ACC, 2006)

Motion regulation of redundantly actuated omni-directional Wheeled Mobile Robots with internal force control. - Dongbin Zhao; Jianqiang Yi; Xuyue Deng (IROS, 2007)