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| || | ||  |  ___|| | |  | ||  |  ___|| |  __ \\  
| '--' ||  | ||__   | |/\| ||  | ||__   | |  \ || 
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|_|| |_||  |_____|| |_// \_||  |_____|| |_____//  
`-`  `-`   `-----`  `-`   `-`  `-----`   -----`

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Text this: Singularity-free joint actuation in omnidirectional mobile platforms with powered offset caster wheels