doi: 10.1685/journal.caim.424

Kinematics of a bicycle with toroidal wheels

Giovanni Frosali, Francesco Ricci


In this paper we revise both the geometry and the kinematics of a bicycle with toroidal wheels. Then we study the nonholonomic constraints on the velocities of the two contact points. We identify the parameters which characterize the bicycle and study the nonlinear relations, which arise from the nonholonomic constrains, in detail. Finally, proper nonlinear functions are defined for expressing these relations in a manageable way.

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Communications in Applied and Industrial Mathematics
ISSN: 2038-0909