Rider/bicycle pose estimation with IMU/seat force measurements

Yizhai Zhang, Fei Liu, Mitja Trkov, Jingang Yi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Scopus citations

Abstract

Unstable bicycle provides an excellent platform to understand human sensorimotor mechanism for balancing control. We present an instrumented bicycle system to study the dynamic interactions between the human rider and the bicycle. A dynamics model is presented to capture the energetic interactions between the rider and the bicycle. We use and integrate the measurements from the seat force sensor and the rider body-mounted inertial measurement unit (IMU) to estimate both the rider's and bicycle's poses. Experimental results are presented to demonstrate the capability of the pose estimation development.

Original languageEnglish (US)
Title of host publicationAIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest
Pages604-609
Number of pages6
DOIs
StatePublished - 2012
Externally publishedYes
Event2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012 - Kaohsiung, Taiwan, Province of China
Duration: Jul 11 2012Jul 14 2012

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012
Country/TerritoryTaiwan, Province of China
CityKaohsiung
Period7/11/127/14/12

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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