Trajectory Generation from Motion Capture for a Planar Biped Robot in Swing Phase

• Main Authors: Diego A Bravo, Carlos F Rengifo R
• Format: Article
• Language: English
• Published: Universidad EAFIT 2015-08-01
• Series: Ingeniería y Ciencia
• Subjects: biped robot; motion capture; trajectory generation; dynamic model
• Online Access: http://publicaciones.eafit.edu.co/index.php/ingciencia/article/view/2720

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