Nonlinear optimization for human-like synchronous movements of a dual arm-hand robotic system

Bibliographic Details
Main Author: Gulletta, Gianpaolo
Publication Date: 2015
Other Authors: Araújo, S. M., Silva, Eliana Oliveira Costa, 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/1822/39112
Summary: 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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spelling Nonlinear optimization for human-like synchronous movements of a dual arm-hand robotic systemLarge-scale nonlinear optimization problemsBimanual human-like movementsSynchronous movementsDual arm-hand anthropomorphic robotIpoptCiências Naturais::MatemáticasScience & TechnologyIn 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.AIP PublishingUniversidade do MinhoGulletta, GianpaoloAraújo, S. M.Silva, Eliana Oliveira CostaCosta, M. Fernanda P.Erlhagen, WolframBicho, Estela2015-03-102015-03-10T00:00:00Zconference paperinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://hdl.handle.net/1822/39112engGulletta, 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).97807354128730094-243X10.1063/1.4912427http://dx.doi.org/10.1063/1.4912427info: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:RCAAP2024-05-11T05:32:45Zoai:repositorium.sdum.uminho.pt:1822/39112Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireinfo@rcaap.ptopendoar:https://opendoar.ac.uk/repository/71602025-05-28T15:21:59.482588Repositórios 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 Nonlinear optimization for human-like synchronous movements of a dual arm-hand robotic system
title Nonlinear optimization for human-like synchronous movements of a dual arm-hand robotic system
spellingShingle Nonlinear optimization for human-like synchronous movements of a dual arm-hand robotic system
Gulletta, Gianpaolo
Large-scale nonlinear optimization problems
Bimanual human-like movements
Synchronous movements
Dual arm-hand anthropomorphic robot
Ipopt
Ciências Naturais::Matemáticas
Science & Technology
title_short Nonlinear optimization for human-like synchronous movements of a dual arm-hand robotic system
title_full Nonlinear optimization for human-like synchronous movements of a dual arm-hand robotic system
title_fullStr Nonlinear optimization for human-like synchronous movements of a dual arm-hand robotic system
title_full_unstemmed Nonlinear optimization for human-like synchronous movements of a dual arm-hand robotic system
title_sort Nonlinear optimization for human-like synchronous movements of a dual arm-hand robotic system
author Gulletta, Gianpaolo
author_facet Gulletta, Gianpaolo
Araújo, S. M.
Silva, Eliana Oliveira Costa
Costa, M. Fernanda P.
Erlhagen, Wolfram
Bicho, Estela
author_role author
author2 Araújo, S. M.
Silva, Eliana Oliveira Costa
Costa, M. Fernanda P.
Erlhagen, Wolfram
Bicho, Estela
author2_role author
author
author
author
author
dc.contributor.none.fl_str_mv Universidade do Minho
dc.contributor.author.fl_str_mv Gulletta, Gianpaolo
Araújo, S. M.
Silva, Eliana Oliveira Costa
Costa, M. Fernanda P.
Erlhagen, Wolfram
Bicho, Estela
dc.subject.por.fl_str_mv Large-scale nonlinear optimization problems
Bimanual human-like movements
Synchronous movements
Dual arm-hand anthropomorphic robot
Ipopt
Ciências Naturais::Matemáticas
Science & Technology
topic Large-scale nonlinear optimization problems
Bimanual human-like movements
Synchronous movements
Dual arm-hand anthropomorphic robot
Ipopt
Ciências Naturais::Matemáticas
Science & Technology
description 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.
publishDate 2015
dc.date.none.fl_str_mv 2015-03-10
2015-03-10T00:00:00Z
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/1822/39112
url http://hdl.handle.net/1822/39112
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 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).
9780735412873
0094-243X
10.1063/1.4912427
http://dx.doi.org/10.1063/1.4912427
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_ 1833595268461756416

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