Delft Bicycle Dynamics Lab

At the Delft University of Technology Prof. Arend Schwab of the laboratory for Engineering Mechanics at the faculty of Mechanical Engineering (3mE) is currently heading the research on bicycle dynamics. To contact the Delft Bicycle Dynamics Lab click here.


Recent Papers

We would like to think that this is the definitive review paper on the linearized equations of the motion for a bicycle:

J. P. Meijaard, Jim M. Papadopoulos, Andy Ruina, A. L. Schwab, 2007 ``Linearized dynamics equations for the balance and steer of a bicycle: a benchmark and review,'' Proceedings of the Royal Society A463:1955-1982. doi:10.1098/rspa.2007.1857, or preprint+ESM pdf(578k).


This thesis is the experimental validation of the motion for the uncontrolled bicycle model from the benchmark paper. The advisor was Arend Schwab

Experimental Validation of a Model for the Motion of an Uncontrolled Bicycle(pdf 4.9Mb), J. D. G. Kooijman, MSc thesis, Delft University of Technology, April 2006.



Benchmark Model

Since its inception some 150 years ago, people have been facinated by how bicycles move. The different speed stability characteristics of the bicycle and the interaction between the lean and steer motion makes this such an interesting vehicle to investigate.

As early as 1869 the dynamics of bicycles (or velocipedes, as they were called back then) were all ready described, yet only very recently have the linearized equations of motions of a bicycle been benchmarked. The benchmark was produced by a consorted effort and more information on this model can be found here.

Bicycle Paper History

Between 1869 and today a large number of people have studied bicycle dynamics. A comprehensive review of all the (known) published papers on bicycle models is given here. You will also find a pdf copy of some of the more difficult (or virtually impossible) to find papers and one or two "unofficial" translations.

Extended bicycle Models

The linearised 3 degree of freedom model is the most simple model for a bicycle. This model can be expanded to take into account propulsion and breaking forces, tyre crown width etc. In 2006, The model was extended. More information can be found here.

Bicycle Riding Lessons

What is the best way to learn to ride a bicycle? Can anyone ride a bicyle - even people with a handycap? We think that this is indeed possible. Read how here

Media Attention

The work carried out by the group has received considerable media attention. We have therefore added a page dedicated to all the media attention.


Naam auteur: aschwab
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