# Calculation of inertia values of Ic and Im

In my dynamic model of two wheeled mobile robot, it has the total equivalent inertia, noted $I$, described by the equation below,

$I_c$ is the moment of inertia of the DDMR about the vertical axis through the center of mass and $I_m$ is the moment of inertia of each driving wheel with a motor about the wheel diameter. May I know how to measure or calculate $I_c$ and $I_m$? My wheeled mobile robot is Arduino Robot