acceleration due to gravity [m/s2]
mass of body [kg]
mass of wheel [kg]
radius of wheel [m]
moment of inertia of wheel [kg∙m2]
vehicle width [m]
distance from wheel center to center of gravity of robot body [m]
moment of inertia of body (pitch) [kg∙m2]
moment of inertia of body (yaw) [kg∙m2]
moment of inertia of DC motor [kg∙m2]
resistance of DC motor [Ω]
electromotive force constant of DC motor [V∙s/rad]
torque constant of DC motor [N∙m/A]
gear ratio
coefficient of friction between wheel and DC motor
coefficient of friction between wheel and floor