Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/39240
Título: | Towards human-like bimanual movements in anthropomorphic robots: a nonlinear optimization approach |
Autor(es): | Silva, Eliana Oliveira Costa Costa, M. Fernanda P. Araújo, José Pedro Ferreira Machado, Dario Louro, Luís Erlhagen, Wolfram Bicho, Estela |
Palavras-chave: | Large scale nonlinear optimization Ipopt Bimanual human-like movements Anthropomorphic robot |
Data: | Mar-2015 |
Editora: | Natural Sciences Publishing |
Revista: | Applied Mathematics and Information Sciences |
Resumo(s): | Previously we have presented a model for generating human-like arm and hand movements on an unimanual anthropomorphic robot involved in human-robot collaboration tasks. The present paper aims to extend our model in order to address the generation of human-like bimanual movement sequences which are challenged by scenarios cluttered with obstacles. Movement planning involves large scale nonlinear constrained optimization problems which are solved using the IPOPT solver. Simulation studies show that the model generates feasible and realistic hand trajectories for action sequences involving the two hands. The computational costs involved in the planning allow for real-time human robot-interaction. A qualitative analysis reveals that the movements of the robot exhibit basic characteristics of human movements. |
Tipo: | Artigo |
URI: | https://hdl.handle.net/1822/39240 |
DOI: | 10.12785/amis/090210 |
ISSN: | 1935-0090 2325-0399 |
Versão da editora: | http://www.naturalspublishing.com/files/published/98208h8o0uda58.pdf |
Arbitragem científica: | yes |
Acesso: | Acesso restrito autor |
Aparece nas coleções: | CAlg - Artigos em revistas internacionais / Papers in international journals CMAT - Artigos em revistas com arbitragem / Papers in peer review journals |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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ECostaSilvaEtAl_2014.pdf Acesso restrito! | 947,73 kB | Adobe PDF | Ver/Abrir |