Please use this identifier to cite or link to this item: http://hdl.handle.net/1822/27485

TitleGenerating human-like movements on an anthropomorphic robot using an interior point method
Author(s)Silva, Eliana Oliveira Costa
Araújo, José Pedro Ferreira
Machado, Dario
Costa, M. Fernanda P.
Erlhagen, Wolfram
Bicho, E.
KeywordsLarge-scale nonlinear optimization
IPOPT
Human-like movements
Anthropomorphic robot
Human-robot collaboration
Issue date2013
PublisherAIP Publishing
JournalAIP Conference Proceedings
Abstract(s)In previous work we have presented a model for generating human-like arm and hand movements on an anthropomorphic robot involved in human-robot collaboration tasks. This model was inspired by the Posture-Based Motion-Planning Model of human movements. Numerical results and simulations for reach-to-grasp movements with two different grip types have been presented previously. In this paper we extend our model in order to address the generation of more complex movement sequences which are challenged by scenarios cluttered with obstacles. The numerical results were obtained using the IPOPT solver, which was integrated in our MATLAB simulator of an anthropomorphic robot.
TypeConference paper
URIhttp://hdl.handle.net/1822/27485
ISBN9780735411845
DOI10.1063/1.4825563
ISSN0094-243X
Publisher versionhttp://dx.doi.org/10.1063/1.4825563
Peer-Reviewedyes
AccessOpen access
Appears in Collections:CMAT - Artigos em atas de conferências e capítulos de livros com arbitragem / Papers in proceedings of conferences and book chapters with peer review

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