The dynamics of a two link Chaplygin sleigh driven by an internal momentum wheel

A class of aquatic robots have been shown to have a correspondence to terrestrial nonholonomic systems. In particular bodies shaped as a Joukowski foil have been shown to have dynamics similar to a well known nonholonomic system, the Chaplygin sleigh. This inspires several related rigid body nonholonomic systems whose behavior is similar to other aquatic robots with other morphologies. In this paper we investigate the dynamics of one such nonholonomic system, a two-link Chaplygin sleigh that is controlled by an internal momentum wheel. This system is analogous to a similar aquatic robot with a passive tail. We also discuss results related to the accessibility and controllability of the two-link Chaplygin sleigh.