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Nonlinear optimization for human-like synchronous movements of a dual arm-hand robotic system

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Resumo:In previous work we have presented a model capable of generating human-like movements for a dual arm-hand robot involved in human-robot cooperative tasks. However, the focus was on the generation of reach-to-grasp and reach-to-regrasp bimanual movements and no synchrony in timing was taken into account. In this paper we extend the previous model in order to accomplish bimanual manipulation tasks by synchronously moving both arms and hands of an anthropomorphic robotic system. Specifically, the new extended model has been designed for two different tasks with different degrees of difficulty. Numerical results were obtained by the implementation of the IPOPT solver embedded in our MATLAB simulator.
Autores principais:Gulletta, Gianpaolo
Outros Autores:Araújo, S. M.; Silva, Eliana Oliveira Costa; Costa, M. Fernanda P.; Erlhagen, Wolfram; Bicho, Estela
Assunto:Large-scale nonlinear optimization problems Bimanual human-like movements Synchronous movements Dual arm-hand anthropomorphic robot Ipopt Ciências Naturais::Matemáticas
Ano:2015
País:Portugal
Tipo de documento:comunicação em conferência
Tipo de acesso:acesso aberto
Instituição associada:Universidade do Minho
Idioma:inglês
Origem:RepositóriUM - Universidade do Minho

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