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Kinematic analysis of an active angular swivel steering mechanism for robotic mobile bases

In this paper, we analyze the kinematics of a novel active steering mechanism which we shall label as the angular swivel steering mechanism. Inspired by a remotely-controller toy car, we propose using angular swivel steering to construct a robotic mobile base. The kinematic analysis of the proposed angular swivel steering exhibits interesting base configurations that could be exploited while designing new robotic platforms that have the potential to be effective in negotiating rugged terrains.