Symbolic derivation of bicycle kinematics with toroidal wheels Everett X. Wang, Juncheng Zou, Gengping Xue, Lin Yuan, Zhaoheng Zeng, Gengfeng Xue, Yijun Liu, Gary Zhang and Qun Fan MATEC Web of Conferences, 34 (2015) 04001 Published online: 11 December 2015 DOI: 10.1051/matecconf/20153404001