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2-2D differential gear mechanism for robot moving inside pi..:

, In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Kim, Ho Moon ; Choi, Yun Seok ; Mun, Hyeong Min... - p. 1152-1157 , 2015
Link: https://doi.org/10.1109/IROS.2015.7353515