{"id":{"repo_id":"vt","oai_identifier":"oai:vtechworks.lib.vt.edu:10919/31702"},"canonical_url":"https://search.dev.ndltd.org/etd/vt/oai:vtechworks.lib.vt.edu:10919/31702","repository":{"repo_id":"vt","name":"Virginia Tech","base_url":"https://vtechworks.lib.vt.edu/oai/request"},"display":{"title":"Kinematics, Dynamics and Control of Single-Axle, Two-Wheel Vehicles (Biplanar Bicycles)","abstract":"A two-wheeled, single-axle, differentially driven vehicle possesses many salient advantages when compared to traditional vehicle designs. In particular, high traction factor, zero turn radius, and inherent static and dynamic stability are characteristics of this configuration. Drive torque is provided via a swinging reaction mass hanging below the axle. While mechanically simple, the resulting nonlinear vehicle dynamics can be quite complex. Additional design challenges arise if non-pendulating platforms or hardware mounts are required. Ultimately, this vehicle class has great potential in autonomous robotic applications such as mine clearance, planetary exploration, and autonomous remote inspection. This thesis discusses the kinematic and dynamic analyses of this vehicle class and develops design tools including performance envelopes and control strategies. Further, it confronts the stable platform problem and provides one solution while suggesting alternative design concepts for other applications.","abstract_html":"A two-wheeled, single-axle, differentially driven vehicle possesses many salient advantages when compared to traditional vehicle designs. In particular, high traction factor, zero turn radius, and inherent static and dynamic stability are characteristics of this configuration. Drive torque is provided via a swinging reaction mass hanging below the axle. While mechanically simple, the resulting nonlinear vehicle dynamics can be quite complex. Additional design challenges arise if non-pendulating platforms or hardware mounts are required. Ultimately, this vehicle class has great potential in autonomous robotic applications such as mine clearance, planetary exploration, and autonomous remote inspection. This thesis discusses the kinematic and dynamic analyses of this vehicle class and develops design tools including performance envelopes and control strategies. Further, it confronts the stable platform problem and provides one solution while suggesting alternative design concepts for other applications.","abstract_has_math":false,"creators":["Abbott, Michael Shawn"],"institution":"Virginia Tech","degree_name":"Master of Science","degree_level":"masters","degree_discipline":"Mechanical Engineering","degree_department":"Mechanical Engineering","school":null,"contributors":[],"advisors":[],"committee_chairs":["Reinholtz, Charles F."],"committee_members":["Robertshaw, Harry H.","Leo, Donald J."],"year":2000,"date_issued":"2000-04-11","date_published":"2000-04-11","updated_at":"2026-07-22T22:20:03Z","subjects":["Vehicle","Dynamics","Control","Two-Wheel"],"languages":[],"rights":["In Copyright"],"rights_urls":["http://rightsstatements.org/vocab/InC/1.0/"],"identifier_entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["etd-04132000-14590026"],"render_values":[{"text":"etd-04132000-14590026","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/10919/31702","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.committeechair","label":"Committee Chair","values":["Reinholtz, Charles F."]},{"key":"dc:contributor.committeemember","label":"Committee Member","values":["Robertshaw, Harry H.","Leo, Donald J."]},{"key":"dc:contributor.department","label":"Department","values":["Mechanical Engineering"]},{"key":"dc:creator","label":"Author","values":["Abbott, Michael Shawn"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2014-03-14T20:33:25Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2014-03-14T20:33:25Z","2001-04-20"]},{"key":"dc:date.issued","label":"Date","values":["2000-04-11"]},{"key":"dc:publisher","label":"Institution","values":["Virginia Tech"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["masters"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["Virginia Polytechnic Institute and State University"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Vehicle","Dynamics","Control","Two-Wheel"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:rights","label":"Dc Rights","values":["In Copyright"]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://rightsstatements.org/vocab/InC/1.0/"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["etd-04132000-14590026"]},{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/10919/31702"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["A two-wheeled, single-axle, differentially driven vehicle possesses many salient advantages when compared to traditional vehicle designs. In particular, high traction factor, zero turn radius, and inherent static and dynamic stability are characteristics of this configuration. Drive torque is provided via a swinging reaction mass hanging below the axle. While mechanically simple, the resulting nonlinear vehicle dynamics can be quite complex. Additional design challenges arise if non-pendulating platforms or hardware mounts are required. Ultimately, this vehicle class has great potential in autonomous robotic applications such as mine clearance, planetary exploration, and autonomous remote inspection. This thesis discusses the kinematic and dynamic analyses of this vehicle class and develops design tools including performance envelopes and control strategies. 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