Research On Bicycle Robot’s Running State Switch

Bicycle is one of the most successful human machines. It is complicated by a number of simple mechanical. Bicycle robot is a typical non-linear and underactuated system. It has the characteristics that we can balance the robot when it is moving, but can’t balance is when static. The bicycle robot contains nonholonomic constraints when walking straightly because it’s front wheel and rear wheel are in-the same line. We have no direct driving force to control the roll angle. Because of the characteristic of underactuated and contains nonholonomic constraints, the dynamic of bicycle robot is very complicated though it is simple in structure.This paper first put forward and realize the Concept of bicycle running state switch. On the one hand it is to deepen the understanding of the bicycle robot, on the other hand do the groundwork for future study.In this paper, firstly, we establish a dynamic model using the Routh method for bicycle robot. We analysis the models when front-bar is on the two specific angle, design a controller, and do the computer simulation. Secondly, we achieve the dynamic model which used to descript the state switch of bicycle robot. We verify it in the Adams and MATLAB. Finally, describes a information collection system for collecting the data of bicycle robot.