Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/27485
Título: | Generating human-like movements on an anthropomorphic robot using an interior point method |
Autor(es): | Silva, Eliana Oliveira Costa Araújo, José Pedro Ferreira Machado, Dario Costa, M. Fernanda P. Erlhagen, Wolfram Bicho, E. |
Palavras-chave: | Large-scale nonlinear optimization IPOPT Human-like movements Anthropomorphic robot Human-robot collaboration |
Data: | 2013 |
Editora: | AIP Publishing |
Revista: | AIP Conference Proceedings |
Resumo(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. |
Tipo: | Artigo em ata de conferência |
URI: | https://hdl.handle.net/1822/27485 |
ISBN: | 9780735411845 |
DOI: | 10.1063/1.4825563 |
ISSN: | 0094-243X |
Versão da editora: | http://dx.doi.org/10.1063/1.4825563 |
Arbitragem científica: | yes |
Acesso: | Acesso aberto |
Aparece nas coleções: |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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ECostaSilvaEtAl-noa2013.pdf | Documento principal | 642,69 kB | Adobe PDF | Ver/Abrir |