[IEEE 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems (SCIS) and 17th International Symposium on Advanced Intelligent Systems (ISIS) - Sapporo, Japan (2016.8.25-2016.8.28)] 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems (SCIS) and 17th International Symposium on Advanced Intelligent Systems (ISIS) - Active Steerable Driving Mechanism Using Two In-Wheel Motors for Omnidirectional Motion of Robotic Mobile Platform