| acceleration due to gravity [m/s |

| mass of body [kg] |

| mass of wheel [kg] |

| radius of wheel [m] |

| moment of inertia of wheel [kg∙m |

| vehicle width [m] |

| distance from wheel center to center of gravity of robot body [m] |

| moment of inertia of body (pitch) [kg∙m |

| moment of inertia of body (yaw) [kg∙m |

| moment of inertia of DC motor [kg∙m |

| 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 |