The gear mechanism with passive rollers: The input mechanism to drive the omnidirectional gear and worm gearing.
Riichiro TadakumaKenjiro TadakumaMinoru TakagiShotaro OnishiGaku MatsuiKyohei IokaYuichi TsumakiMitsuru HigashimoriMakoto KanekoPublished in: ICRA (2013)