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|Title:||Nonlinear optimization for human-like synchronous movements of a dual arm-hand robotic system|
Araújo, S. M.
Silva, Eliana Oliveira Costa
Costa, M. Fernanda P.
|Keywords:||Large-scale nonlinear optimization problems|
Bimanual human-like movements
Dual arm-hand anthropomorphic robot
|Journal:||AIP Conference Proceedings|
|Citation:||Gulletta, 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.|
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