{
  "abstract": "A container handling vehicle (601) for operation on a rail system (108) of an automated storage and retrieval system (1) comprises: a first set of wheels (601b) for driving in a first direction (X) and a second set of wheels (601c) for driving in a second direction (Y); wherein each of the first set of wheels (601b) and the second set of wheels (601c) comprises a respective first pair of wheels (601b',601c') on a common side of the vehicle and a respective second pair of wheels (601b'',601c'') on a common side of the vehicle, and each first and second pair of wheels (601b',601c',601b'',601c'') is driven by a respective common force transferring element (606';606'';607';607''); and wherein the container handling vehicle (601) comprises a wheel motor arrangement and wherein each of the force transferring elements (606';606'';607';607'') is connected to the wheel motor arrangement.",
  "assignees": [
    "AUTOSTORE TECH AS"
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  "authors": [
    "PLØEN CHRISTIAN HÅKON"
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  "title": "A container handling vehicle with all wheel drive",
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