Generating human-like movements on an anthropomorphic robot using an interior point method

• Autor(a) principal: Silva, Eliana Oliveira Costa
• Data de Publicação: 2013
• Outros Autores: Araújo, José Pedro Ferreira, Machado, Dario, Costa, M. Fernanda P., Erlhagen, Wolfram, Bicho, E.
• Idioma: eng
• Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
• Texto Completo: http://hdl.handle.net/1822/27485
• topic: Large-scale nonlinear optimization; IPOPT; Human-like movements; Anthropomorphic robot; Human-robot collaboration; Science & Technology

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.