While we were driving our Magni on the sidewalk, it had difficulty while moving downhill.
Notably, most of the mass of the rover is distributed behind the drive wheels. This is fine when driving uphill, or even sideways. But when driving downhill, the bulk of the mass being situated higher than the drive wheels causes the slightest corrective steering to approach the instability threshold. The rover pose quickly deteriorates to resemble an inverted pendulum tip-over.
Does Ubiquity have available for us a dynamical system model, or other mechanical system characteristics, which would help us to examine these responses analytically?