Traction force characterization of human bipedal motion

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 computationall...

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Bibliographic Details
Published in2010 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 5511 - 5516
Main Authors Vogt, Andrew, Lincoln, Lucas, Bamberg, Stacy J Morris, Minor, Mark
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2010
Subjects
Computational modeling
Foot
Force
Humans
Measurement
Surface treatment
Wheels
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Summary: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.
ISBN:9781424466740
1424466741
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2010.5648950