Table 3.

Parameters in the mechanical model.

Symbol	Comment	Symbol	Comment
$F_{fi}$	Friction of the robot	$G$	Weight force of the robot
$F_{Ni}$	Support force of the wheel	$s$	Safety parameter
$F_{Mag}$	Adsorption of the wheel	$\mu$	Static friction coefficient
$l$	Length of robot	$B$	Width of robot
$\omega$	Angular velocity of turning state	$h_c$	Centroid height of the robot