The concept of distributed actuation is one of essential elements of 'Ubiquitous Function' including distributed sensing, computing, network etc. In this paper, a novel mechanism, double-wheel-type active caster, to realize the concept of distributed actuation is investigated. A closed form kinematics of omni-directional mobile system which consists of multiple double-wheel-type active casters is studied. Simulation to show the adequacy of the kinematic model is also carried out.
