Trajectory Generation from Motion Capture for a Planar Biped Robot in Swing Phase
This paper proposes human motion capture to generate movements for the right leg in swing phase of a biped robot restricted to the sagittal plane. Such movements are defined by time functions representing the desired angular positions for the joints involved. Motion capture performed with a Microso...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Universidad EAFIT
2015-08-01
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| Series: | Ingeniería y Ciencia |
| Subjects: | |
| Online Access: | http://publicaciones.eafit.edu.co/index.php/ingciencia/article/view/2720 |
| Summary: | This paper proposes human motion capture to generate movements for the right leg in swing phase of a biped robot restricted to the sagittal plane. Such movements are defined by time functions representing the desired angular positions for the joints involved. Motion capture performed with a Microsoft Kinect TM camera and from the data obtained joint trajectories were generated to control the robot’s right leg in swing phase. The proposed control law is a hybrid strategy; the first strategy is based on a computed torque control to track reference trajectories, and the second strategy is based on time scaling control ensuring the robot’s balance. This work is a preliminary study to generate humanoid robot trajectories from motion capture.
PACS: 87.85.St
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| ISSN: | 1794-9165 2256-4314 |