Trajectory Generation from Motion Capture for a Planar Biped Robot in Swing Phase
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| Format: | Artículo científico |
| Sprache: | en |
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Universidad EAFIT
2015
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| _version_ | 1876447143325073408 |
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| author | Diego A. Bravo M. |
| author_facet | Diego A. Bravo M. |
| contents | Trajectory Generation from Motion Capture for a Planar Biped Robot in Swing Phase Diego A. Bravo M. Carlos F. Rengifo R. Ingeniería Biped robot Biped robot Biped robot dynamic model dynamic model 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. 2015 artículo científico 1794-9165 https://www.redalyc.org/articulo.oa?id=83540427002 en http://www.redalyc.org/revista.oa?id=835 Ingeniería y Ciencia application/pdf Universidad EAFIT Ingeniería y Ciencia (Colombia) Num.22 Vol.11 |
| format | Artículo científico |
| id | redalyc_83540427002 |
| institution | Redalyc |
| language | en |
| publishDate | 2015 |
| publisher | Universidad EAFIT |
| spellingShingle | Trajectory Generation from Motion Capture for a Planar Biped Robot in Swing Phase Diego A. Bravo M. Ingeniería Biped robot Biped robot Biped robot dynamic model dynamic model Trajectory Generation from Motion Capture for a Planar Biped Robot in Swing Phase Diego A. Bravo M. Carlos F. Rengifo R. Ingeniería Biped robot Biped robot Biped robot dynamic model dynamic model 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. 2015 artículo científico 1794-9165 https://www.redalyc.org/articulo.oa?id=83540427002 en http://www.redalyc.org/revista.oa?id=835 Ingeniería y Ciencia application/pdf Universidad EAFIT Ingeniería y Ciencia (Colombia) Num.22 Vol.11 |
| title | Trajectory Generation from Motion Capture for a Planar Biped Robot in Swing Phase |
| topic | Ingeniería Biped robot Biped robot Biped robot dynamic model dynamic model |
| url | https://www.redalyc.org/articulo.oa?id=83540427002 |