Please use this identifier to cite or link to this item: http://hdl.handle.net/1822/14754

TitleHuman-like movement of an anthropomorphic robot: problem revisited
Author(s)Silva, Eliana Oliveira Costa
Costa, M. Fernanda P.
Bicho, E.
Erlhagen, Wolfram
KeywordsLarge-scale nonlinear optimization
Human-like collision-free arm movements
Issue dateSep-2011
PublisherAIP Publishing
JournalAIP Conference Proceedings
Abstract(s)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.
TypeConference paper
URIhttp://hdl.handle.net/1822/14754
ISBN9780735409569
DOI10.1063/1.3636848
ISSN0094-243X
Publisher versionhttps://aip.scitation.org/doi/abs/10.1063/1.3636848
Peer-Reviewedyes
AccessOpen access
Appears in Collections:CAlg - Artigos em livros de atas/Papers in proceedings
CMAT - Artigos em atas de conferências e capítulos de livros com arbitragem / Papers in proceedings of conferences and book chapters with peer review
DEI - Artigos em atas de congressos internacionais

Files in This Item:
File Description SizeFormat 
0779-icnaam.pdfDocumento principal131,65 kBAdobe PDFView/Open

Partilhe no FacebookPartilhe no TwitterPartilhe no DeliciousPartilhe no LinkedInPartilhe no DiggAdicionar ao Google BookmarksPartilhe no MySpacePartilhe no Orkut
Exporte no formato BibTex mendeley Exporte no formato Endnote Adicione ao seu ORCID