Dias, AndréSoares Almeida, José MiguelMartins, AlfredoSilva, Eduardo2026-06-182026-06-182008Dias, A., Almeida, J. M., Martins, A. & Silva E. (2008). Traction characterization in the robocup middle size league. Robótica (70), 4-10.0874-9019http://hdl.handle.net/10400.22/32502In this work the problem of traction af mobile wheeled robots for the particular case of Robocup MSL league was.analyzed. In particular the slip occurrence in differential drive DC electrical powered mobile robots was studied. Traction loss was characterized for the set of possible game events ranging from excessive acceleration, centripetal force effects, to collisions (either to fixed obstacles ar by external players). The traction analysis was performed with measurements of electrical current on each motor and odometry and inertial data. An approach to overall traction control relying in electrical current data coupled with motion data, is envisioned. This approach does not depend on apriori knowledge of the operating surface or robot motor model.engjournal article