Verification of Extended Benchmark Bicycle Kinematics with Toroidal Wheels

被引：0

作者：

Zeng, Zhaoheng ^{[1
]}

Guan, Yisheng ^{[1
]}

Wang, Everett X. ^{[1
]}

Wang, Yu ^{[1
]}

Weng, Yihang ^{[1
]}

Liang, Hongze ^{[1
]}

Zhao, Yanan ^{[1
]}

机构：

[1] Guangdong Univ Technol, Guangzhou Higher Educ Mega Ctr, 100 Waihuan Xi Rd, Guangzhou 510006, Guangdong, Peoples R China

来源：

2017 IEEE 7TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (CYBER) | 2017年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we verify a nonlinear extension of benchmark bicycle kinematics using finite element virtual prototyping technology (VPT). The in-house developed kinematics takes into account of holonomic and nonholonomic constraints due to non-slipping conditions from front and rear toroidal wheels. After comparing several nonlinear extensions of the benchmark bicycle kinematics from literature we show that the numeric simulation is consistent only with our newly developed model for large roll and steer angles.

引用

页码：831 / 835

页数：5

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