\(m_{1}\)

Mass of the chassis

1

kg

\(m_{2}\)

Mass of the linear actuators

0.6

kg

\(m_{\text{w}}\)

Mass of wheel

0.14

kg

\(g\)

Gravitational acceleration

9.81

m/s^{2}

\(l\)

Distance of chassis’s center of mass for wheel axle

0.14

m

\(R\)

Wheel radius

0.05

m

\(J_{1}\)

Rotation inertia of chassis

0.068

kg m^{2}

\(J_{2}\)

Rotation inertia of moving mass

0.0093

kg m^{2}

\(J_{\text{w}}\)

Rotation inertia of a wheel

0.000175

kg m^{2}

\(\mu_{\text{c}}\)

Coefficient of friction between chassis and wheel

0.1

N s/m

\(\mu_{\text{w}}\)

Coefficient of friction between wheel and ground

0

N s/m

\(\mu_{1}\)

Coefficient of friction of vertical linear actuator

0.3

N s/m

\(\mu_{2}\)

Coefficient of friction of horizontal linear actuator

0.3

N s/m
