I thought I would be clever and use TWO shopping-cart-style casters (more stable) instead of the ONE usual omnidirectional ball caster. Now that I am running it I am almost positive that the kinematics are totally different and in fact very hard to model.

Can someone confirm or deny this belief, and give any context (links etc.) so I can dig deeper?

  • $\begingroup$ Can you expand on what you think is different and why? Also, what is the size / scale of this robot? Is there any suspension? $\endgroup$
    – Ben
    Oct 25, 2021 at 18:32
  • $\begingroup$ It's been a while. I had a bug in my code. But I can also say that the transition from turning to straight is challenging because the wheels are turned and take a certain amount of time to align themselves with straight travel. So, during that interval, the kinematics predict straight travel (because both wheels are turning at the same speed) but the robot persist on turning and throws off the odometer totally. $\endgroup$
    – pitosalas
    Oct 26, 2021 at 19:27

1 Answer 1


You might take a look at this paper dealing with a powered wheelchair, which has two caster wheels. https://hal.inria.fr/hal-02124781/document


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