Modelling of the motion of a disk rolling on a torus
This work deals with the modelling of the motion of a disk rolling without slipping on a rigid torus. It is assumed here that the motion of the disk is controlled by a tilting moment, a directional moment, and a pedalling moment. A mathematical model of the motion of the disk rolling on the torus is derived. Then, it is shown that an inverse control transformation can be applied to linearize the system. (C) 2002 Elsevier Science Ltd. All rights reserved.
torus rolling disk nonholonomic constraints