Verification of Extended Benchmark Bicycle Kinematics with Toroidal Wheels

In this paper, we verify a nonlinear extension of benchmark bicycle kinematics using finite element virtual prototyping technology (VPT). The in-house developed kinematics takes into account of holonomic and nonholonomic constraints due to non-slipping conditions from front and rear toroidal wheels. After comparing several nonlinear extensions of the benchmark bicycle kinematics from literature we show that the numeric simulation is consistent only with our newly developed model for large roll and steer angles.