Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/14754
Título: | Human-like movement of an anthropomorphic robot: problem revisited |
Autor(es): | Silva, Eliana Oliveira Costa Costa, M. Fernanda P. Bicho, E. Erlhagen, Wolfram |
Palavras-chave: | Large-scale nonlinear optimization Human-like collision-free arm movements |
Data: | Set-2011 |
Editora: | AIP Publishing |
Revista: | AIP Conference Proceedings |
Resumo(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. |
Tipo: | Artigo em ata de conferência |
URI: | https://hdl.handle.net/1822/14754 |
ISBN: | 9780735409569 |
DOI: | 10.1063/1.3636848 |
ISSN: | 0094-243X |
Versão da editora: | https://aip.scitation.org/doi/abs/10.1063/1.3636848 |
Arbitragem científica: | yes |
Acesso: | Acesso aberto |
Aparece nas coleções: | DEI - Artigos em atas de congressos internacionais |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
---|---|---|---|---|
0779-icnaam.pdf | Documento principal | 131,65 kB | Adobe PDF | Ver/Abrir |