A Robotic Model (ROBI) of Autonomous Bicycle System

The authors have applied robotics based approach in formulating the generalized dynamic equations of motion of a bicycle system. The developed model is considerably more comprehensive than any of the existing models. The model formulation considers a bicycle system to be composed of three rigid bodies connected by revolute joints. The presented model facilitates study of various parameters of motion namely- lean, steer, angular speed, lean-rate, steer- rate, lean-torque, steer-torque, speed-torque, inertial forces, coriolis and centrifugal forces, gravity forces, kinetic energy, potential energy and total energy of various rigid body parts forming the system. The model equations are verified by simulation in MATLAB for the bicycle´s behavior when running autonomously.