This is a working paper that explores the theoretical possibilities and limitations of adding a motor between the rear and front frames of a bicycle. This motor applies a steering torque that is synonymous to the effective torque applied by the rider when controlling a bicycle.

An HTML version can be viewed at:

https://moorepants.github.io/bicycle-steer-control-paper

Contents of this repository are licensed as CC-BY 4.0, see the LICENSE file.

Install dependencies:

conda env create -f bicycle-steer-control-paper.yml
conda activate bicycle-steer-control-paper
python -m pip install git+https://github.com/moorepants/BicycleParameters

Run the scripts, e.g.:

python src/pd_control.py

Build the figures and paper:

make pdf

Run the notebook:

jupyter notebook