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

Ingeniería y Ciencia

Bravo M, Diego A¹  Rengifo R, Carlos F¹ 

[1] Universidad del Cauca, Popayán, Colombia

关键词: biped robot;    motion capture;    trajectory generation;    dynamic modelResumen En este trabajo se propone la captura de movimiento humano para generar movimientos de la pierna derecha en fase de oscilació;    n de un robot bí;    pedo restringido al plano sagital;   

DOI  :  10.17230/ingciencia.11.22.2

学科分类：工程和技术（综合）

来源: Universidad E A F I T

【 摘 要 】

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 KinectTM 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.

【 授权许可】

Unknown