Abstract

BRAVO M, Diego A  and  RENGIFO R, Carlos F. Trajectory Generation from Motion Capture for a Planar Biped Robot in Swing Phase. ing.cienc. [online]. 2015, vol.11, n.22, pp.25-47. ISSN 1794-9165.  https://doi.org/10.17230/ingciencia.11.22.2.

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

Keywords : biped robot; motion capture; trajectory generation; dynamic model.

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