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is the kiwi drive defined by the fact it has three omni wheels? does that seperate it from other omni drives? lets say using 4 to 6 omni wheels. or is it something else that makes it kiwi
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kiwi was a code word we used to refer to a killough drive base. the original killough base has three wheels 120 degrees apart. it is the simplest configuration for true holonomic function, at least in terms of quantity of motors and such.
though building a true killough is often considered too challenging, mainly due to programming complications, control can be solved in many novel and simple ways.....our solution in 2002 required no software whatsoever! i'd love to build another, only time will tell. perhaps in the meantime another team will attempt it......no one has fielded a true killough since ours in 2002.
