TY - GEN
T1 - Rider/bicycle pose estimation with IMU/seat force measurements
AU - Zhang, Yizhai
AU - Liu, Fei
AU - Trkov, Mitja
AU - Yi, Jingang
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84866918800&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84866918800&partnerID=8YFLogxK
U2 - 10.1109/AIM.2012.6265934
DO - 10.1109/AIM.2012.6265934
M3 - Conference contribution
AN - SCOPUS:84866918800
SN - 9781467325752
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 604
EP - 609
BT - AIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest
T2 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012
Y2 - 11 July 2012 through 14 July 2012
ER -