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2. Caster - Wikipedia

   en.wikipedia.org/wiki/Caster

   However, the larger the diameter of a caster wheel, the higher the caster support arm must be. Either the base of a low-hanging object must be lifted higher above the wheels, or the casters must hang out to the sides straddling the low-hanging supported object. While rotating around the vertical shaft, swivel caster wheels sweep out a space.

3. Caster angle - Wikipedia

   en.wikipedia.org/wiki/Caster_angle

   Caster angle and trail both influence the steering, albeit in different ways: caster tends to add damping, while trail adds "feel" and returnability. The caster wheel on shopping carts are an extreme case – the system is undamped but stable, as the wheel oscillates around the "correct" path. The construction has relatively high trail, but no ...

4. Wheel alignment - Wikipedia

   en.wikipedia.org/wiki/Wheel_alignment

   These adjustments are the camber, caster and toe. [2] On some cars, not all of these can be adjusted on every wheel. These three parameters can be further categorized into front and rear (with no caster on the rear, typically not being steered wheels). In summary, the parameters are: Front: Caster (left & right) Front: Camber (left & right)

5. Differential wheeled robot - Wikipedia

   en.wikipedia.org/wiki/Differential_wheeled_robot

   Path of wheels through a turn. The wheels are not connected, despite how it appears. If both the wheels are driven in the same direction and speed, the robot will go in a straight line. If both wheels are turned with equal speed in opposite directions, as is clear from the diagram shown, the robot will rotate about the central point of the axis.

6. Omni wheel - Wikipedia

   en.wikipedia.org/wiki/Omni_wheel

   Omni wheels or poly wheels, similar to Mecanum wheels, are wheels with small discs (called rollers) around the circumference which are perpendicular to the turning direction. The effect is that the wheel can be driven with full force, but will also slide laterally with great ease. These wheels are often employed in holonomic drive systems.

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