%0 Journal Article
%T Trajectory Generation from Motion Capture for a Planar Biped Robot in Swing Phase
%A Carlos F Rengifo R
%A Diego A Bravo
%J -
%D 2015
%R https://doi.org/10.17230/ingciencia.11.22.2
%X 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
%K biped robot
%K motion capture
%K trajectory generation
%K dynamic model
%U http://publicaciones.eafit.edu.co/index.php/ingciencia/article/view/2720