Abstract
The dynamics of a 2D walking wheel motion down an inclined plane is analytically investigated in nonlinear formulation. It is the simplest model of a bipedal walking. The possible cases of the motion of the walking wheel are investigated at various values of the inclination of the support surface and the initial angular velocity of the wheel. It is shown that various modes of motion of the walking wheel are possible. The most interesting of which is the existence of a stable periodic solution (self-oscillations).
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