Open Bicycle Dynamics (OBD) is an open source set of C library functions for analyzing the linear and nonlinear dynamics of the Whipple bicycle model, extended to include toroidal tires. Similar in some regards to JBike6 [2], OBD offers several extra features. Notably, it includes nonlinear and linearized equations of motion (linearized about any configuration), and three inputs torques — rear wheel torque, steer torque, and front wheel torque (for modelling rider actuation or joint friction). Steady turning equations of motion are also included, and allow for determination of the steer torque and ground reaction forces required to maintain a steady turn, as well as the stability of such a turn. Other useful quantities, such as the kinetic and potential energies, ground reaction forces at the wheels, linearized system A and B matrices (for any configuration), and kinematic constraint (for ensuring both wheels remain on the ground) are also included. The code has been validated against results presented by Meijaard et al. and Basu-Mandal et al. OBD is written in C and is optimized for speed, platform independence, and minimal dependencies in order to compile and use. The source code and instructions for installation are available on the Internet at http://github.com/hazelnusse/OBD. (Author/publisher) For this poster, other posters and the papers presented at this Symposium see http://bicycle.tudelft.nl/bmd2010/
Abstract