Abstract
In this paper, the Active Caster module for mobile platforms is described. The ubiquitous robot concept intend to realize more useful services in human life space by connecting distributed robot functions. As a distributed actuation module, the Active Caster has good characteristics of parallel driving actuator. This characteristics enables the Active Casters to be attached for various objects in human life space. The offset of the steering shaft which realizes more smooth movement of mobile platform is introduced. Moreover, Navi-Guide unit realizes more intuitive operation by human.
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