Global vs. local nonlinear optimization techniques for human-like movement of an anthropomorphic robot

• Main Author: Silva, Eliana Costa
• Publication Date: 2015
• Other Authors: Costa, M. Fernanda P., Erlhagen, Wolfram, Bicho, Estela
• Language: eng
• Source: Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
• Download full: http://hdl.handle.net/1822/39109
• topic: Large scale nonlinear optimization; Ipopt; NLopt; Bimanual human-like movements; Anthropomorphic robot; Ciências Naturais::Matemáticas; Ciências Naturais::Matemáticas; Science & Technology

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.