Revised Parameterized and validated equations of motion for a tadpole style cargo tricycle

In the past years, cargo bicycles in different configurations have gained popularity for many use cases. Their configurations differ substantially. Single-track cargo bicycles and their kinematics are linked closely to conventional bicycles. The kinematics of inverted tricycles, so-called tadpole trikes, are very different. In the final paper, we will present a novel physical model of a tadpole style cargo tricycle for the mathematical description of the driving behavior, which can be used for e.g. stability analysis or motion prediction. We will furthermore present our instrumented tadpole cargo tricycle which is used to parametrize our kinematic model and used to validate the theoretically derived equations of motion.