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

Abstract

This paper proposes human motion capture to generate movements for theright leg in swing phase of a biped robot restricted to the sagittal plane.Such movements are defined by time functions representing the desiredangular positions for the joints involved. Motion capture performed witha Microsoft KinectTMcamera and from the data obtained joint trajec-tories were generated to control the robot’s right leg in swing phase. Theproposed control law is a hybrid strategy; the first strategyis based ona computed torque control to track reference trajectories,and the secondstrategy is based on time scaling control ensuring the robot’s balance. Thiswork is a preliminary study to generate humanoid robot trajectories frommotion capture.