The bicycle model consists of two frames B and H connected by two wheels R and F. The model has a total of 25 geometry and mass-distribution parameters. Central here are the rotary inertia Iyy of the front wheel, the steer axis angle (‘rake’) ls and the trail distance c (positive if contact is behind the steer axis). Depending on the parameter values, as well as gravity g and forward speed v, this bicycle can be self-stable or not.
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