Source with a lot of info, references, schematics and pictures:
1983 - "Kludge" Omnidirectional Mobile Robot - John M. Holland (American) - cyberneticzoo.com
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Source with a lot of info, references, schematics and pictures:
1983 - "Kludge" Omnidirectional Mobile Robot - John M. Holland (American) - cyberneticzoo.com