Speaker: J.P. Meijaard, UTwente,
NL
Titel: The loop closure equation for the pitch angle in bicycle kinematics
Abstract: It has been shown by Psiaki in 1979 that the equation for the pitch
angle in the non-linear kinematics of an ideal bicycle with rigid wheels having
a knife-edged rims can be reduced to a quartic. In this presentation, it is
explored how the assumptions can be relaxed and the problem can still be reduced
to the solution of a quartic equation. The wheel rims can have a toroidal shape
and the wheel and steer axes do not have to be perpendicular or exactly aligned
in the reference configuration. A systematic way of deriving and reducing the
loop closure equation will be presented.