Linearized dynamics equations for the balance and steer of a bicycle: a benchmark and review
@article{Meijaard2007LinearizedDE, title={Linearized dynamics equations for the balance and steer of a bicycle: a benchmark and review}, author={J. P. Meijaard and J. Papadopoulos and A. Ruina and A. Schwab}, journal={Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences}, year={2007}, volume={463}, pages={1955 - 1982} }
We present canonical linearized equations of motion for the Whipple bicycle model consisting of four rigid laterally symmetric ideally hinged parts: two wheels, a frame and a front assembly. The wheels are also axisymmetric and make ideal knife-edge rolling point contact with the ground level. The mass distribution and geometry are otherwise arbitrary. This conservative non-holonomic system has a seven-dimensional accessible configuration space and three velocity degrees of freedom parametrized… CONTINUE READING
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