Table 3.

Parameters in the mechanical model.

Symbol	Comment	Symbol	Comment
$O_0-x_0{y}_0{z}_0$	Robot body coordinate system	$O-xyz$	Natural coordinate system
${\mu }_1$	Static friction coefficient	$p_0$	Width of detection robot
$l_0$	Length of detection robot	$h_0$	Height of the mass center
$\mathrm{G}$	Gravity of the robot	$i$	Wheel number (1–4)
$F_{fi}$	Friction of each wheel	$F_{\mathrm{N}i}$	Wall support force of each wheel
$F_{\mathrm{C}i}$	Adsorption force of each wheel	$F_{C0}$	Average adsorption force of wheel