Publicação
Human-like movement of an anthropomorphic robot: problem revisited
| Resumo: | Human-like movement is fundamental for natural human-robot interaction and collaboration. We have developed in a model for generating arm and hand movements an anthropomorphic robot. This model was inspired by the Posture-Based Motion-Planning Model of human reaching and grasping movements. In this paper we present some changes to the model we have proposed in [4] and test and compare different nonlinear constrained optimization techniques for solving the large-scale nonlinear constrained optimization problem that rises from the discretization of our time-continuous model. Furthermore, we test different time discretization steps. |
|---|---|
| Autores principais: | Silva, Eliana Oliveira Costa |
| Outros Autores: | Costa, M. Fernanda P.; Bicho, E.; Erlhagen, Wolfram |
| Assunto: | Large-scale nonlinear optimization Human-like collision-free arm movements |
| Ano: | 2011 |
| 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 |
| _version_ | 1866876518271025152 |
|---|---|
| author | Silva, Eliana Oliveira Costa |
| author2 | Costa, M. Fernanda P. Bicho, E. Erlhagen, Wolfram |
| author2_role | author author author |
| author_facet | Silva, Eliana Oliveira Costa Costa, M. Fernanda P. Bicho, E. Erlhagen, Wolfram |
| author_role | author |
| contributor_name_str_mv | Universidade do Minho |
| country_str | PT |
| creators_json_txt | [{\"Person.name\":\"Silva, Eliana Oliveira Costa\"},{\"Person.name\":\"Costa, M. Fernanda P.\"},{\"Person.name\":\"Bicho, E.\"},{\"Person.name\":\"Erlhagen, Wolfram\"}] |
| datacite.contributors.contributor.contributorName.fl_str_mv | Universidade do Minho |
| datacite.creators.creator.creatorName.fl_str_mv | Silva, Eliana Oliveira Costa Costa, M. Fernanda P. Bicho, E. Erlhagen, Wolfram |
| datacite.date.Accepted.fl_str_mv | 2011-09-01T00:00:00Z |
| datacite.date.available.fl_str_mv | 2011-12-02T15:18:30Z |
| datacite.date.embargoed.fl_str_mv | 2011-12-02T15:18:30Z |
| datacite.rights.fl_str_mv | http://purl.org/coar/access_right/c_abf2 |
| datacite.subjects.subject.fl_str_mv | Large-scale nonlinear optimization Human-like collision-free arm movements |
| datacite.titles.title.fl_str_mv | Human-like movement of an anthropomorphic robot: problem revisited |
| dc.contributor.none.fl_str_mv | Universidade do Minho |
| dc.creator.none.fl_str_mv | Silva, Eliana Oliveira Costa Costa, M. Fernanda P. Bicho, E. Erlhagen, Wolfram |
| dc.date.Accepted.fl_str_mv | 2011-09-01T00:00:00Z |
| dc.date.available.fl_str_mv | 2011-12-02T15:18:30Z |
| dc.date.embargoed.fl_str_mv | 2011-12-02T15:18:30Z |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | https://hdl.handle.net/1822/14754 |
| dc.language.none.fl_str_mv | eng |
| dc.publisher.none.fl_str_mv | AIP Publishing |
| dc.rights.none.fl_str_mv | http://purl.org/coar/access_right/c_abf2 |
| dc.subject.none.fl_str_mv | Large-scale nonlinear optimization Human-like collision-free arm movements |
| dc.title.fl_str_mv | Human-like movement of an anthropomorphic robot: problem revisited |
| dc.type.none.fl_str_mv | http://purl.org/coar/resource_type/c_5794 |
| description | Human-like movement is fundamental for natural human-robot interaction and collaboration. We have developed in a model for generating arm and hand movements an anthropomorphic robot. This model was inspired by the Posture-Based Motion-Planning Model of human reaching and grasping movements. In this paper we present some changes to the model we have proposed in [4] and test and compare different nonlinear constrained optimization techniques for solving the large-scale nonlinear constrained optimization problem that rises from the discretization of our time-continuous model. Furthermore, we test different time discretization steps. |
| dirty | 0 |
| eu_rights_str_mv | openAccess |
| format | conferencePaper |
| fulltext.url.fl_str_mv | https://prod-dspace.uminho.pt/bitstreams/24b76283-cb89-44a9-a566-7fbbb7ad59c7/download |
| id | rum_f333fdfd4efd8a195f149ea789112fb6 |
| identifier.url.fl_str_mv | https://hdl.handle.net/1822/14754 |
| instacron_str | repositorium |
| institution | Universidade do Minho |
| instname_str | Universidade do Minho |
| language | eng |
| network_acronym_str | rum |
| network_name_str | RepositóriUM - Universidade do Minho |
| oai_identifier_str | oai:repositorium.uminho.pt:1822/14754 |
| organization_str_mv | urn:organizationAcronym:repositorium |
| person_str_mv | Silva, Eliana Oliveira Costa Costa, M. Fernanda P. Bicho, E. Erlhagen, Wolfram |
| publishDate | 2011 |
| publisher.none.fl_str_mv | AIP Publishing |
| reponame_str | RepositóriUM - Universidade do Minho |
| repository_id_str | urn:repositoryAcronym:rum |
| service_str_mv | urn:repositoryAcronym:rum |
| spelling | engAIP PublishingporHuman-like movement is fundamental for natural human-robot interaction and collaboration. We have developed in a model for generating arm and hand movements an anthropomorphic robot. This model was inspired by the Posture-Based Motion-Planning Model of human reaching and grasping movements. In this paper we present some changes to the model we have proposed in [4] and test and compare different nonlinear constrained optimization techniques for solving the large-scale nonlinear constrained optimization problem that rises from the discretization of our time-continuous model. Furthermore, we test different time discretization steps.application/pdfporHuman-like movement of an anthropomorphic robot: problem revisitedSilva, Eliana Oliveira CostaCosta, M. Fernanda P.Bicho, E.Erlhagen, WolframHostingInstitutionOrganizationalUniversidade do Minhoe-mailmailto:repositorium@usdb.uminho.ptrepositorium@usdb.uminho.ptISBNIsPartOf9780735409569ISSNIsPartOf0094-243XDOIIsPartOf10.1063/1.36368482011-12-02T15:18:30Z2011-092011-09-01T00:00:00ZHandlehttps://hdl.handle.net/1822/14754http://purl.org/coar/access_right/c_abf2open accessLarge-scale nonlinear optimizationHuman-like collision-free arm movements134814 bytesother research producthttp://purl.org/coar/resource_type/c_5794conference paperhttp://purl.org/coar/access_right/c_abf2application/pdffulltexthttps://prod-dspace.uminho.pt/bitstreams/24b76283-cb89-44a9-a566-7fbbb7ad59c7/download |
| spellingShingle | Human-like movement of an anthropomorphic robot: problem revisited Silva, Eliana Oliveira Costa Large-scale nonlinear optimization Human-like collision-free arm movements |
| status | SINGLETON |
| subject.fl_str_mv | Large-scale nonlinear optimization Human-like collision-free arm movements |
| title | Human-like movement of an anthropomorphic robot: problem revisited |
| title_full | Human-like movement of an anthropomorphic robot: problem revisited |
| title_fullStr | Human-like movement of an anthropomorphic robot: problem revisited |
| title_full_unstemmed | Human-like movement of an anthropomorphic robot: problem revisited |
| title_short | Human-like movement of an anthropomorphic robot: problem revisited |
| title_sort | Human-like movement of an anthropomorphic robot: problem revisited |
| topic | Large-scale nonlinear optimization Human-like collision-free arm movements |
| topic_facet | Large-scale nonlinear optimization Human-like collision-free arm movements |
| url | https://hdl.handle.net/1822/14754 |
| visible | 1 |