Multi-caster wheel robot base models have no fewer than 2 caster wheels that can both move and steer. The caster wheels can be arranged arbitrarily in the robot base coordinate system without overlapping (for dynamic considerations, it is still recommended that the center of gravity of the vehicle is within the circle circumscribed by all caster wheels), which means that the robot base coordinate system is not limited by the distribution of the caster wheels, as shown in the figure below:

If the steering range of each caster wheel is greater than or equal to 180°, then the robot base can move omnidirectionally.
Multi-caster wheel robot base with 2 caster wheels is called a dual-caster wheel robot base, which is the most common type of multi-caster wheel robot base.

Model File Configuration

In the model file configuration of multiple steered wheels, the x, y positions of the walk motor and the steered wheel motor need to be configured the same, and the number of steered wheels must be greater than 1. The number of walk motors and steered wheels must be consistent. If the above conditions are not met, error code 53163 will be reported.

Error53163

Hint:

1. The number of steers is smaller than 2!
2. The number of walk motor larger than the number of steer motor!
3. The position of <motor name> doesn't match the postion in the walk motors

Trigger conditions:

1. The number of steered wheels is less than 2
2. The number of steered wheels and walk motors do not match
3. The position of the steered wheel does not match the position of the walk motor

Resolution:

1. You need to reconfigure the model file and upload the new model file