Please use this identifier to cite or link to this item: http://hdl.handle.net/1822/39109

TitleGlobal vs. local nonlinear optimization techniques for human-like movement of an anthropomorphic robot
Author(s)Silva, Eliana Costa
Costa, M. Fernanda P.
Erlhagen, Wolfram
Bicho, Estela
KeywordsLarge scale nonlinear optimization
Ipopt
NLopt
Bimanual human-like movements
Anthropomorphic robot
Issue date10-Mar-2015
PublisherAIP Publishing
JournalAIP Conference Proceedings
Abstract(s)In this paper a comparison between using global and local optimization techniques for solving the problem of generating human-like arm and hand movements for an anthropomorphic dual arm robot is made. Although the objective function involved in each optimization problem is convex, there is no evidence that the admissible regions of these problems are convex sets. For the sequence of movements for which the numerical tests were done there were no significant differences between the optimal solutions obtained using the global and the local techniques. This suggests that the optimal solution obtained using the local solver is indeed a global solution.
TypeConference paper
URIhttp://hdl.handle.net/1822/39109
ISBN9780735412873
DOI10.1063/1.4912424
ISSN0094-243X
Publisher versionhttp://dx.doi.org/10.1063/1.4912424
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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