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Human-like movement of an anthropomorphic robot: problem revisited

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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

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