赵言正, 门广亮, 闫国荣, 王炎. 爬壁机器人全方位移动机构的研究[J]. 机器人, 1995, 17(2): 102-107..
ZHAO Yanzheng, MEN Guangliang, YAN Guorong, WANG Yan. THE STUDY AND DEVELOPMENT OF THE ALL-DIRECTIONAL VEHICLE APPLIED IN THE WALL-CLIMBING ROBOT. ROBOT, 1995, 17(2): 102-107..
Abstract：The all-directional vehicle which is consist of more than three directional sliding wheels can run towards any direction in line depending on the different combination of wheel's speed and rotation while the vehicle should not make any rotate around the axis vertical to the plane of it.And the vehicle can rotate defi-nite angle on its original place.This all-directional vehicle can make the wall-climbing robot have such pecu-liarity as movability and can move to anywhere.