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 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

• Autores: Bravo, Diego A.; Rengifo R., Carlos F.
• Fecha de publicación: 2015
• Institución: Universidad EAFIT
• Repositorio: Repositorio EAFIT
• Idioma: eng
• OAI Identifier: oai:repository.eafit.edu.co:10784/7878
• Acceso en línea: http://publicaciones.eafit.edu.co/index.php/ingciencia/article/view/2720; http://hdl.handle.net/10784/7878
• Palabra clave: ROBÓTICA; MOVIMIENTOS MECÁNICOS; BIOMECÁNICA; MECÁNICA HUMANA; Robotics; Mechanical movements; Biomechanics; Human mechanics
• License: Copyright (c) 2015 Ingeniería y Ciencia - ing.cienc.