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Figure 5


Fig. 5. Instantaneous motion of the unicycle model. The two empty circles correspond to the two retroreflective markers that are used to locate the position of the POR (denoted as two concentric circles). v is the forward velocity; {omega} is the rotational velocity; v{perp} is the component of the velocity of the rear marker perpendicular to the body's fore–aft axis; {alpha} is the distance between the rear marker and the POR.





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