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https://hdl.handle.net/1822/39240
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Campo DC | Valor | Idioma |
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dc.contributor.author | Silva, Eliana Oliveira Costa | por |
dc.contributor.author | Costa, M. Fernanda P. | por |
dc.contributor.author | Araújo, José Pedro Ferreira | por |
dc.contributor.author | Machado, Dario | por |
dc.contributor.author | Louro, Luís | por |
dc.contributor.author | Erlhagen, Wolfram | por |
dc.contributor.author | Bicho, Estela | por |
dc.date.accessioned | 2016-01-06T14:37:41Z | - |
dc.date.issued | 2015-03 | - |
dc.date.submitted | 2014-05-13 | - |
dc.identifier.issn | 1935-0090 | por |
dc.identifier.issn | 2325-0399 | por |
dc.identifier.uri | https://hdl.handle.net/1822/39240 | - |
dc.description.abstract | 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. | por |
dc.description.sponsorship | (undefined) | por |
dc.language.iso | eng | por |
dc.publisher | Natural Sciences Publishing | por |
dc.relation | EU funded Project PF7 Marie Curie: NETT - Neural Engineering Transformative Technologies | por |
dc.relation | FCT: PEst-OE/MAT/UI0013/2014 | por |
dc.relation | FCT: FCOMP-01-0124-FEDER-022674 | por |
dc.rights | closedAccess | por |
dc.subject | Large scale nonlinear optimization | por |
dc.subject | Ipopt | por |
dc.subject | Bimanual human-like movements | por |
dc.subject | Anthropomorphic robot | por |
dc.title | Towards human-like bimanual movements in anthropomorphic robots: a nonlinear optimization approach | por |
dc.type | article | por |
dc.peerreviewed | yes | por |
dc.relation.publisherversion | http://www.naturalspublishing.com/files/published/98208h8o0uda58.pdf | por |
dc.comments | Centro Algoritmi (R&D line: IE; R&D group: CAR) | por |
sdum.publicationstatus | published | por |
oaire.citationStartPage | 619 | por |
oaire.citationEndPage | 629 | por |
oaire.citationIssue | 2 | por |
oaire.citationTitle | Applied Mathematics & Information Sciences | por |
oaire.citationVolume | 9 | por |
dc.identifier.doi | 10.12785/amis/090210 | por |
rcaap.embargofct | disponibilizada a versão da Editora | por |
dc.subject.fos | Ciências Naturais::Matemáticas | por |
sdum.journal | Applied Mathematics and Information Sciences | por |
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 |