Maneuvering control of a rolling four-links robot

This work deals with the maneuvering control of the planar motion of a rolling four-links robot as described in Figure 1. The system is composed of four links, two identical wheels, and a mass mO attached to the joint O. The problem that is addressed is to develop control laws for the rolling four-links robot such that the mass mO performs prescribed maneuvers in the vertical (X, Z)-plane.