Abstract:Bicycle robot have two points contacting with its support plane, and the connecting line between these two point can be dealt with equilibrium axis when the bicycle perform regular motions. In this paper, we discuses stable equilibrium motion of a front-wheel drive bicycle robot by use of moment balance of inertial forces and gravities. Firstly, under the presupposition of rolling without sliding, recursion forms of velocities and accelerations of the robot are derived with generalized speeds. The derivations … Show more
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