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cs.RO2025
Dynamics and multi-stability of a rotor-actuated Twistcar robot with passive steering joint
Anna Zigelman, Zitao Yu, Rom Levy +1
The nonlinear dynamics of many under-actuated wheeled platforms are governed by nonholonomic constraints of no-skid for passively rolling wheels, coupled with momentum balance. In…
cs.RO2025
Analysis and experiments of the dissipative Twistcar: direction reversal and asymptotic approximations
Rom Levy, Ari Dantus, Zitao Yu +1
Underactuated wheeled vehicles are commonly studied as nonholonomic systems with periodic actuation. Twistcar is a classical example inspired by a riding toy, which has been analyz…