Dynamic modeling of a bicycle robot with front-wheel drive based on Kane's method

This paper highlights dynamic modeling of a front-wheel drive bicycle robot by using Kane's method. At first, the unique structure of the proposed bicycle robot was introduced. Then, kinematics of the robot was discussed under the pure rolling presupposition of the two road wheels. The kinematics analysis reveals the nonholonomic constraints in the system. Next, dynamic model of the bicycle robot was derived with the consideration of uneven mass distribution in the system. Finally, numerical simulations of the bicycle's running behavior were implemented in MATLAB to examine the efficiency of the derived model. Simulations results show the model is basically in agreement with the real working condition of the bicycle robot. The work in this paper is the basis for realizing stable running of the bicycle robot in the future.