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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
Publisher version
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

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