Technische Universität München Robotics and Embedded Systems

Proseminar 'Design of an autonomous bicycle' WS 2015/16

Organizer Daniel Renjewski, Gereon Hinz
Module IN0013
Type Proseminar
Semester WS 2015/16
Language English
Room 03.07.011
ECTS 4.0


office hours Daniel Renjewski, Tue & Thu 9-12 and by appointment (starting Oct. 27th),

Gereon Hinz by appointment

Submission deadline for papers: 6.12.2015, 23:59 CET Presentations: 19.01.2016


Controlling a bicycle seems straight-forward and easy to learn. But although the bicycle approaches its 200th anniversary, the unerlying self-stabilizing dynamics are subject of academic curiosity and debate. The recent trend towards flexible mobility and electrically driven bikes opened an entire new marked for assistive technologies in bike-riding. In this seminar we want to assess the challenges of modelling and controlling bicycles and evaluate past approaches to robotic and autonomous bicycles. The course aims at developing a concept of sensors and actuators needed to autonomously drive a bicycle and assist bicycle riders.

Link: self-stabilization of a perturbed bicycle (Cornell University, USA)

Topic Assignment

Topic Student
Market potential and customer demands Neil Neureither
Crowd science and crowd funding - introduction of new technologies Pierre Louis Bonvin
Simulators and bicycle dynamics Philipp Schmid
State estimation - specific challenges in bicycles Nitin Deshpande
"Related bikes" - 2 wheel, 3 wheel, 4 wheel solutions Felix Uhl

Course Material / Resources


[1] Meijaard, Jaap P., et al. "Linearized dynamics equations for the balance and steer of a bicycle: a benchmark and review." Proceedings of the Royal Society of London A: Mathematical, Physical and Engineering Sciences. Vol. 463. No. 2084. The Royal Society, 2007.

[2] Kooijman, J. D. G., et al. "A bicycle can be self-stable without gyroscopic or caster effects." Science 332.6027 (2011): 339-342.