Dear all,
I've added an errata about the problem with the Swedish wheels at slide 55 of the "MobileRobots part1.1 2021" presentation.
The slides are now correct. You will find at slides 55-57 of "MobileRobots part1.1 2021" a more comprehensive demonstration on the model derivation for a Swedish wheel, based on the rolling and sliding constraint.
Thanks to whoever raised the issue, it slipped my mind.
Regards,
S. Seriani