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Optimal Control of a Two-Mass Skate Bicycle Without Steering

Abstract:

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 calc...

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Publication status:
Published

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Publisher copy:
10.1109/ICIT.2013.6505661

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Institution:
University of Oxford
Department:
Oxford, MPLS, Engineering Science
Role:
Author
Journal:
2013 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT)
Pages:
134-139
Publication date:
2013-01-01
DOI:
URN:
uuid:a161569e-0818-4d21-aebd-dd4e6e6db8e6
Source identifiers:
405893
Local pid:
pubs:405893
Language:
English

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