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
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;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-6674-0
DOI :
10.1109/IROS.2010.5648950
