TY - GEN
T1 - Optimal control of a Two-Mass Skate bicycle without steering
AU - Perantoni, Giacomo
AU - Limebeer, David J.N.
PY - 2013
Y1 - 2013
N2 - Until recently it was believed that the ability of riderless bicycles to remain upright derives from a combination of the gyroscopic precession of the front wheel and the trail designed into the steering geometry. As it turns out neither influence is necessary for straight-running stability. It is also believed that rider steering torque and/or a roll moment applied to the main frame are required for steering. We show that this long-standing belief is also untrue. All the optimal-control calculations presented are computed off-line.
AB - Until recently it was believed that the ability of riderless bicycles to remain upright derives from a combination of the gyroscopic precession of the front wheel and the trail designed into the steering geometry. As it turns out neither influence is necessary for straight-running stability. It is also believed that rider steering torque and/or a roll moment applied to the main frame are required for steering. We show that this long-standing belief is also untrue. All the optimal-control calculations presented are computed off-line.
UR - http://www.scopus.com/inward/record.url?scp=84877633117&partnerID=8YFLogxK
U2 - 10.1109/ICIT.2013.6505661
DO - 10.1109/ICIT.2013.6505661
M3 - Conference contribution
AN - SCOPUS:84877633117
SN - 9781467345699
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 134
EP - 139
BT - Proceedings - 2013 IEEE International Conference on Industrial Technology, ICIT 2013
T2 - 2013 IEEE International Conference on Industrial Technology, ICIT 2013
Y2 - 25 February 2013 through 28 February 2013
ER -