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Control for an Autonomous Bicycle

Getz, Neil H. and Marsden, J. E. (1995) Control for an Autonomous Bicycle. In: Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Vol.2. Institute of Electrical and Electronics Engineers , Piscataway, NJ, pp. 1397-1402. ISBN 0-7803-1965-6.

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The control of nonholonomic and underactuated systems with symmetry is illustrated by the problem of controlling a bicycle. We derive a controller which, using steering and rear-wheel torque, causes a model of a riderless bicycle to recover its balance from a near fall as well as converge to a time parameterized path in the ground plane. Our construction utilizes new results for both the derivation of equations of motion for nonholonomic systems with symmetry, as well as the control of underactuated robotic systems.

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Deposited On:14 Jul 2005
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