Motion Of Bicycle Research Articles

Tire track geometry: Variations on a theme

We study closed smooth convex plane curves Λ enjoying the following property: a pair of pointsx, y can traverse Λ so that the distances betweenx andy along the curve and in the ambient plane do not change; such curves are calledbicycle curves. Motivation for this study comes from the problem how to determine the direction of the bicycle motion by the tire tracks of the bicycle wheels; bicycle curves arise in the (rare) situation when one cannot determine which way the bicycle went. We discuss existence and non-existence of bicycle curves, other than circles; in particular, we obtain restrictions on bicycle curves in terms of the ratio of the length of the arcxy to the perimeter, length of Λ, the number and location of their vertices, etc. We also study polygonal analogs of bicycle curves, convex equilateraln-gonsP whosek-diagonals all have equal lengths. For some values ofn andk we prove the rigidity result thatP is a regular polygon, and for some we construct flexible bicycle polygons.

The derivation of a kinematic model from the dynamic model of the motion of a riderless bicycle

This work deals with the modelling and control of a riderless bicycle (see Figure 1). It is assumed here that the bicycle is controlled by a pedalling torque, a directional torque, and by a rotor mounted on the crossbar that generates a tilting torque. In particular, a kinematic model of the bicycle's motion is derived by using its dynamic model. Then, using this kinematic model, a constraint point-to-point control problem is dealt with.

Point-to-point and collision avoidance control of the motion of an autonomous bicycle

This work deals with the stabilization and collision avoidance control of a riderless bicycle (see Figure 1). It is assumed here that the bicycle is controlled by a pedalling torque, a directional torque, and by a rotor mounted on the crossbar that generates a tilting torque. Given two points r A , r B , and a circular obstacle in the horizontal plane. Also, given a time interval [0, t f ], where 0 < t f < ∞. It is shown here that by applying a kind of inverse dynamics control, the motion of the bicycle is stabilized while simultaneously controlling its speed and direction in such a manner that the point of contact between the bicycle's rear wheel and the horizontal plane will be able, during [0, t f ], to move from r A to r B without hitting the obstacle.

An Approach to Self Stabilization of Bicycle Motion by Handle Controller

Recently bicycles are widely used as a convenient transportation tool. A mechanical design of bicycle has improved well and it has an ability to self-stabilize, but it is essentially unstable and a driving skill of bicycle users is required for a realization of its stable motion. From a view point of wide use for the future aging society, the assist control of the bicycle that makes a bicycle motion more stable independently of the environment condition is expected. As well known, the power assistance of a bicycle has been used, but a practical assistance of bicycle motion, in particular, the stable control of bicycle configuration has not been developed. In this paper, the two handle control algorithms for autonomous stable running are proposed with the aim of developing a stable human assistance bicycle. The proposed algorithms are verified by numerical and experimental results.

Rider's net moment estimation using control force of motion system for bicycle simulator

AbstractOne of the challenging problems with bicycle simulators is to deal with the virtual bicycle dynamics that is coupled with rider's motion. For the virtual bicycle dynamics calculation and the real time simulation, it is necessary to identify the control inputs from the rider as well as the virtual environments. The steering, pedaling, and braking torques can be easily measured by using torque sensors and the virtual environments can be generated and provided by a visual system. However, direct measurement of the rider's net moment that significantly affects the bicycle motion is not practical. In this work, it is shown that six control forces of the Stewart platform‐based motion system can be used for effective estimation of the rider's net moment, incorporated with the sliding mode controller with perturbation estimation. © 2004 Wiley Periodicals, Inc.

1113 自転車の安定性に関する検討 : 運動方程式の導出と数値シミュレーション

This paper presents the study on the stability of compact bicycle. Recently the bicycles become being focused on transportation tool to solve environmental problem and traffic congestions in cities. In particularly the role of compact bicycles and folding bikes becomes important so that inter modal connection between bicycles and other public transportations for convenient and flexible traffic. However the compact bicycles are less stable than normal bicycles. In this study, the equations of motion of bicycle are led from Newton-Euler law and bicycle dynamics has been simulated using obtained equations

2105 自転車の運動解析に関する研究 : 二輪車の運動方程式の導出

This paper presents the study on the stability of compact bicycle. Recently the bicycles become being focused on transportation tool to solve environmental problem and traffic congestions in cities. In particularly the role of compact bicycles and folding bikes becomes important so that inter modal connection between bicycles and other public transportations for convenient and flexible traffic. However the compact bicycles are less stable than normal bicycles. In this study, the equations of motion of bicycle are led from Newton-Euler law.

Blitzograms—Interactive Histograms

You probably know how to ride a bicycle, but would you even recognize the equations of bicycle motion? The equations are clearly not necessary for riding a bike, but are they sufficient? Suppose, that upon seeing your first bicycle, you had derived the equations of motion from scratch, starting with F=ma. Would you shout “Eureka” then jump on and start riding? No, the equations of motion are irrelevant to riding a bicycle. Designing a bicycle maybe, but riding one, no way. We learn to ride through interactions with bicycles using our hands and the seats of our pants. Michael Polanyi (1983) has referred to this as tacit learning as opposed to the formal learning required to understand equations. I will demonstrate below, a path toward gaining a tacit understanding of the concept of probability distributions.

Stabilization and control of the motion of an autonomous bicycle by using a rotor for the tilting moment

This work deals with the stabilization and control of a riderless bicycle. It is assumed here that the bicycle is controlled by a pedalling torque, a directional torque and by a rotor mounted on the crossbar that generates a tilting torque. A kind of an inverse control strategy is proposed under which the motion of the bicycle is stabilized and its rear wheel is able asymptotically to track any given smooth ground trajectory