[python] Re: Bicycle Dynamics and Control

I had page rejection this morning probably because many were simultaneously 
downloading but it appears fine now.

The article appears to be an interesting read albeit a bit over my head. i.e. 
on page 18 they describe a bike as being able to demonstrate "dynamics of 
nonlinear *nonholonomic* systems". Having never heard the word nonholonomic 
before I did a bit of a search on "holonomic" and came upon this
http://www.halfbakery.com/idea/Holonomic_20Cars
http://www.cs.cmu.edu/~pprk/physics.html
http://www.cs.cmu.edu/~pprk/overview.html
 
Essentially it appears to mean traversing a straight line in any direction 
while simultaneously controlling rotation. If this is the case describing a 
bike as "nonholonomic" seems akin to describing it as a "nonsubmarine". I think 
this gets to the root of why I always had trouble with the lingo in math. 

On the other hand putting that palm pilot robot under the front wheel, in 
theory, could be a Rube Goldberg way of putting a correcting torque on the 
front wheel of a python while riding at speed :-D

Daryl

-----Original Message-----
From: python-bounce@xxxxxxxxxxxxx [mailto:python-bounce@xxxxxxxxxxxxx] On 
Behalf Of Jürgen Mages
Sent: Tuesday, September 13, 2005 10:34 AM
To: Python Mailinglist
Subject: [python] Bicycle Dynamics and Control


An interesting source for our math freaks:

http://www.liggister.org/info/AAstrom.pdf

New to me. Just found it on the swedish
mailinglist. Thanks to Jan-Inge.

Jürgen. 

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