DocumentCode
3289283
Title
Traction force characterization of human bipedal motion
Author
Vogt, Andrew ; Lincoln, Lucas ; Bamberg, Stacy J Morris ; Minor, Mark
Author_Institution
Dept. of Mech. Eng., Univ. of Utah, Salt Lake City, UT, USA
fYear
2010
fDate
18-22 Oct. 2010
Firstpage
5511
Lastpage
5516
Abstract
Traction estimation and control, common in the automotive industry, have yet to be extended to human bipedal motion. This paper presents a novel metric for slip and traction optimization using the partial derivative of a traction force estimate to slip velocity. The metric is verified computationally using an existing dynamic mode and experimentally using a multi-camera motion capture system.
Keywords
automobile industry; cameras; friction; gait analysis; legged locomotion; motion control; motion estimation; optimisation; traction; wheels; automotive industry; human bipedal motion; multicamera motion capture system; partial derivative; slip velocity; traction control; traction estimation; traction force estimation; traction optimization;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location
Taipei
ISSN
2153-0858
Print_ISBN
978-1-4244-6674-0
Type
conf
DOI
10.1109/IROS.2010.5648950
Filename
5648950
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