A motorcycle model with eleven degrees of freedom has been derived. The model is a set of nonlinear differential equations that describe the motion of the motorcycle as a function of the forces acting on the separate bodies. The model derived differs from most models in literature in that the rolling wheel is not modeled as a nonholonomic constraint, but includes a simple linear tire model, that is capable of predicting tire forces at large camber angles. The wheels are not restricted to the ground surface, so that wheelies and stoppies can be simulated with this model. Furthermore, the model is fully nonlinear and lateral and longitudinal dynamics are united. (Author/publisher) For this poster, other posters and the papers presented at this Symposium see http://bicycle.tudelft.nl/bmd2010/
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