Table 1.
Classification of mobile robots based on the motion system and type of mobility.
| Motion System Based on | ||||
|---|---|---|---|---|
| Wheels | Ball | Legs | ||
| Universal | Omnidirectional | |||
 |
 |
 |
 |
 |
 | ||||
| (a) | (b) | (c) | (d) | (e) |
| Not omnidirectional | Omnidirectional | |||
| Type of mobility | ||||
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