In this paper we consider the dynamics of a roller bicycle on a horizontal plane.
For this bicycle we derive a nonlinear system of equations of motion in a form that allows us
to take into account the symmetry of the system in a natural form. We analyze in detail the
stability of straight-line motion depending on the parameters of the bicycle. We find numerical
evidence that, in addition to stable straight-line motion, the roller bicycle can exhibit other,
more complex, trajectories for which the bicycle does not fall.
Keywords:
roller bicycle, nonholonomic system, stability, quasi-velocities, Poincaré map
Citation:
Bizyaev I. A., Mamaev I. S., Nonlinear Dynamics of a Roller Bicycle, Regular and Chaotic Dynamics,
2024, Volume 29, Number 5,
pp. 728-750