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Towards Human-like Bimanual Movements in Anthropomorphic Robots: A Nonlinear Optimization Approach

2015Journal article Open access
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dc.contributor.authorSilva, Eliana Costa e
dc.contributor.authorCosta, M. F.
dc.contributor.authorAraujo, J. P.
dc.contributor.authorMachado, D.
dc.contributor.authorLouro, L.
dc.contributor.authorErlhagen, W.
dc.contributor.authorBicho, Estela
dc.date.accessioned2016-02-01T16:03:01Z
dc.date.available2016-02-01T16:03:01Z
dc.date.issued2015
dc.description.abstractPreviously 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.pt_PT
dc.identifier.urihttp://hdl.handle.net/10400.22/7591
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.subjectLarge scale nonlinear optimizationpt_PT
dc.subjectIPOPTpt_PT
dc.subjectbimanual human-like movementspt_PT
dc.subjectanthropomorphic robotpt_PT
dc.titleTowards Human-like Bimanual Movements in Anthropomorphic Robots: A Nonlinear Optimization Approachpt_PT
dc.typejournal article
dspace.entity.typePublication
oaire.citation.titleApplied Mathematics & Information Sciences An International Journalpt_PT
rcaap.rightsopenAccesspt_PT
rcaap.typearticlept_PT

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