Human-like movement of an anthropomorphic robot: problem revisited

Detalhes bibliográficos
Autor(a) principal: Silva, Eliana Oliveira Costa
Data de Publicação: 2011
Outros Autores: Costa, M. Fernanda P., Bicho, E., Erlhagen, Wolfram
Idioma: eng
Título da fonte: Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
Texto Completo: http://hdl.handle.net/1822/14754
Resumo: Human-like movement is fundamental for natural human-robot interaction and collaboration. We have developed in a model for generating arm and hand movements an anthropomorphic robot. This model was inspired by the Posture-Based Motion-Planning Model of human reaching and grasping movements. In this paper we present some changes to the model we have proposed in [4] and test and compare different nonlinear constrained optimization techniques for solving the large-scale nonlinear constrained optimization problem that rises from the discretization of our time-continuous model. Furthermore, we test different time discretization steps.
id RCAP_44f00d3280b45a12c7f827f484210dd1
oai_identifier_str oai:repositorium.sdum.uminho.pt:1822/14754
network_acronym_str RCAP
network_name_str Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
repository_id_str https://opendoar.ac.uk/repository/7160
spelling Human-like movement of an anthropomorphic robot: problem revisitedLarge-scale nonlinear optimizationHuman-like collision-free arm movementsScience & TechnologyHuman-like movement is fundamental for natural human-robot interaction and collaboration. We have developed in a model for generating arm and hand movements an anthropomorphic robot. This model was inspired by the Posture-Based Motion-Planning Model of human reaching and grasping movements. In this paper we present some changes to the model we have proposed in [4] and test and compare different nonlinear constrained optimization techniques for solving the large-scale nonlinear constrained optimization problem that rises from the discretization of our time-continuous model. Furthermore, we test different time discretization steps.Eliana Costa e Silva was supported by FCT (grant: SFRH/BD/23821/2005).AIP PublishingUniversidade do MinhoSilva, Eliana Oliveira CostaCosta, M. Fernanda P.Bicho, E.Erlhagen, Wolfram2011-092011-09-01T00:00:00Zconference paperinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://hdl.handle.net/1822/14754eng97807354095690094-243X10.1063/1.3636848https://aip.scitation.org/doi/abs/10.1063/1.3636848info:eu-repo/semantics/openAccessreponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiainstacron:RCAAP2024-05-11T05:33:43Zoai:repositorium.sdum.uminho.pt:1822/14754Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireinfo@rcaap.ptopendoar:https://opendoar.ac.uk/repository/71602025-05-28T15:22:26.356457Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiafalse
dc.title.none.fl_str_mv Human-like movement of an anthropomorphic robot: problem revisited
title Human-like movement of an anthropomorphic robot: problem revisited
spellingShingle Human-like movement of an anthropomorphic robot: problem revisited
Silva, Eliana Oliveira Costa
Large-scale nonlinear optimization
Human-like collision-free arm movements
Science & Technology
title_short Human-like movement of an anthropomorphic robot: problem revisited
title_full Human-like movement of an anthropomorphic robot: problem revisited
title_fullStr Human-like movement of an anthropomorphic robot: problem revisited
title_full_unstemmed Human-like movement of an anthropomorphic robot: problem revisited
title_sort Human-like movement of an anthropomorphic robot: problem revisited
author Silva, Eliana Oliveira Costa
author_facet Silva, Eliana Oliveira Costa
Costa, M. Fernanda P.
Bicho, E.
Erlhagen, Wolfram
author_role author
author2 Costa, M. Fernanda P.
Bicho, E.
Erlhagen, Wolfram
author2_role author
author
author
dc.contributor.none.fl_str_mv Universidade do Minho
dc.contributor.author.fl_str_mv Silva, Eliana Oliveira Costa
Costa, M. Fernanda P.
Bicho, E.
Erlhagen, Wolfram
dc.subject.por.fl_str_mv Large-scale nonlinear optimization
Human-like collision-free arm movements
Science & Technology
topic Large-scale nonlinear optimization
Human-like collision-free arm movements
Science & Technology
description Human-like movement is fundamental for natural human-robot interaction and collaboration. We have developed in a model for generating arm and hand movements an anthropomorphic robot. This model was inspired by the Posture-Based Motion-Planning Model of human reaching and grasping movements. In this paper we present some changes to the model we have proposed in [4] and test and compare different nonlinear constrained optimization techniques for solving the large-scale nonlinear constrained optimization problem that rises from the discretization of our time-continuous model. Furthermore, we test different time discretization steps.
publishDate 2011
dc.date.none.fl_str_mv 2011-09
2011-09-01T00:00:00Z
dc.type.driver.fl_str_mv conference paper
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/1822/14754
url http://hdl.handle.net/1822/14754
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 9780735409569
0094-243X
10.1063/1.3636848
https://aip.scitation.org/doi/abs/10.1063/1.3636848
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv AIP Publishing
publisher.none.fl_str_mv AIP Publishing
dc.source.none.fl_str_mv reponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron:RCAAP
instname_str FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron_str RCAAP
institution RCAAP
reponame_str Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
collection Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
repository.name.fl_str_mv Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
repository.mail.fl_str_mv info@rcaap.pt
_version_ 1833595275317346304

Registros relacionados