Dynamics of the Unicycle: Modelling and Experimental Verification

ISBN-13: 9783319953830 / Angielski / Miękka / 2018 / 77 str.

Michal Nielaczny; Barnat Wieslaw; Tomasz Kapitaniak

Opis

This book presents a three-dimensional model of the complete unicycle-unicyclist system. This book is devoted to the problem of modeling and controlling a 3D dynamical system consisting of a single-wheeled vehicle, namely a unicycle and the cyclist (unicyclist) riding it.

Spis treści

PRELIMINARY:

1 Introductions  

1.1 Unicycle - one wheel vehicle  

1.2 Types of the unicycles  

1.3 Unicycle in technical aspect  

2 Literature Survey  

3 Motivations  

4 Euler angles  

5 The model of the Unicycle-Unicyclist System  

6 The parameters of the model  

6.1 The unicycle parameters  

6.2 Unicyclist's parameters and biomechanics  

7 The Tyre modelling  

7.1 Tyre stiness coecient . 

7.2 Pacejka's Magic Formula  

8 Boltzman-Hammel Equations  

9 Energy of the system  

10 Equations of the model dynamics  

11 The control system  

12 Numerical Simulations  

13 Experimental validation of the model  

13.1 2D motion capture  

13.2 3D motion capture  

14 Conclusions