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All rights reserved. Reproduction or translation of any part of this work is unlawful. Request for permission or further information should be addressed to Professor Jong-Hwan Kim at <johkim@vivaldi.kaist.ac.kr> or <Tel: +82-42-869-3448>. 2. b 2.1 aơe? e a a ᶡi eѡ e e i iea. aAe  i e Bb a aq i e Aᬁ a eӡ i e ai we a e wсi qea.  wi e e eсa a a a, ae wсȁ e e A a. aqe y a i aaȅ aa. A aa be iaa. aa i ᴡA awi aA aa 嬂ȡ aaa. ᶁ aA a 2.1(a)e eӡ w A wAe a w a. {e e aᜅ A帡 awaa ⬡ a. aСe e ae a aᜱ aa. 夁 a 2.1(b)e ȩw a. e a, e i e, Ai w aᜅ i g | se ⬡ aС ga. A 夁 a 2.1(c)e be wсȁ a. A awAe ae eӡ e aƁ AA be ii a iae wсȡa. aa Ɂ e aeA wa e eeA ai wae aA awaa. e A ai 鸡 Aae wbA wa a. b˷i a i w (omni-directional mobile robot)a ea. w e | a w a ȩw A ҥ aAe a a s eaС sa. a 2.1(a) (b) e w A wAe ie e i waС a. 2.2 a i AaС ᶁe A e ⬡ a ea. a 2.2e ᶡe eA aaae aΡa. ᶁ aA X1-Y1 a΁e AA i 鸁 a΁a. a X2-Y2 a΁e i a aС e wi xa ae a΁a. i aС ᶁ aq { aA(posture) Pi ea. a, x,ye 񸁷 aΡ, e | ae wba. ᶁ A i u aAe 鸁 ᶡ(x,y) e wb()a ᴡa, A a te i xᴡ i tia. i ae e ba A e bi aqa ae aAi aA aС qСa. { aƁ A aA ae aA ʼni aaȅ i bТa aa, A ʼne 2.3A aa ea. A wi ae A市¡ ab 嬅 aea. e a ab a eA pure rolling non-slipping i eea. Pure rollinge aᜱ e ae ua a ae i ea ab ae i i i i iea. Non-slippinge aaae wЁ a aᜡ geae i iaa, e |a aᜡ geae i ea. e, Aa A waAI Swedish wheele {e i eaС gea. Swedish wheele a a eA e awaA eia a. a aa e e e A帗i a aa A i ea. a 2.3(a)A aƁ A市 ewi eae 񸡷 e A帗 Ea. e A e a e iᴥ a bA aa iaa. eA e A aaa a w e A Ea. a