Symbolic derivation of bicycle kinematics with toroidal wheelsEverett X. Wang, Juncheng Zou, Gengping Xue, Lin Yuan, Zhaoheng Zeng, Gengfeng Xue, Yijun Liu, Gary Zhang and Qun FanMATEC Web of Conferences, 34 (2015) 04001DOI: https://doi.org/10.1051/matecconf/20153404001
