Table 4.

Parameters in the mechanical model.

Symbol	Comment	Symbol	Comment
$V_s$	Velocity of the center of mass	$V_l$	Velocity of the left two wheels
$V_r$	Velocity of the right two wheels	$R_w$	Radius of magnetic wheel
$R$	Radius of gyration	$\alpha$	Angular acceleration of robot
${\mathrm{T}}_P$	Moment of resistance of wheel	${\mathrm{T}}_t$	Motor output torque