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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
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
Publisher version
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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