Please use this identifier to cite or link to this item: http://hdl.handle.net/1822/39112

TitleNonlinear optimization for human-like synchronous movements of a dual arm-hand robotic system
Author(s)Gulletta, Gianpaolo
Araújo, S. M.
Silva, Eliana Oliveira Costa
Costa, M. Fernanda P.
Erlhagen, Wolfram
Bicho, Estela
KeywordsLarge-scale nonlinear optimization problems
Bimanual human-like movements
Synchronous movements
Dual arm-hand anthropomorphic robot
Ipopt
Issue date10-Mar-2015
PublisherAIP Publishing
JournalAIP Conference Proceedings
CitationGulletta, G., Araujo, S. M., Costa E Silva, E., Costa, M. F., Erlhagen, W., & Bicho, E. (2015). Nonlinear Optimization for Human-like Synchronous Movements of a Dual Arm-hand Robotic System. In T. E. Simos & C. Tsitouras (Eds.), Proceedings of the International Conference of Numerical Analysis and Applied Mathematics 2014 (Vol. 1648).
Abstract(s)In previous work we have presented a model capable of generating human-like movements for a dual arm-hand robot involved in human-robot cooperative tasks. However, the focus was on the generation of reach-to-grasp and reach-to-regrasp bimanual movements and no synchrony in timing was taken into account. In this paper we extend the previous model in order to accomplish bimanual manipulation tasks by synchronously moving both arms and hands of an anthropomorphic robotic system. Specifically, the new extended model has been designed for two different tasks with different degrees of difficulty. Numerical results were obtained by the implementation of the IPOPT solver embedded in our MATLAB simulator.
TypeConference paper
URIhttp://hdl.handle.net/1822/39112
ISBN9780735412873
DOI10.1063/1.4912427
ISSN0094-243X
Publisher versionhttp://dx.doi.org/10.1063/1.4912427
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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