Towards Human-like Bimanual Movements in Anthropomorphic Robots: A Nonlinear Optimization Approach

• Autor(a) principal: Silva, Eliana Costa e
• Data de Publicação: 2015
• Outros Autores: Costa, M. F., Araujo, J. P., Machado, D., Louro, L., Erlhagen, W., Bicho, Estela
• Tipo de documento: Artigo
• Idioma: eng
• Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
• Texto Completo: http://hdl.handle.net/10400.22/7591
• topic: Large scale nonlinear optimization; IPOPT; bimanual human-like movements; anthropomorphic robot

Previously we have presented a model for generating human-like arm and hand movements on an unimanual anthropomorphic robot involved in human-robot collaboration tasks. The present paper aims to extend our model in order to address the generation of human-like bimanual movement sequences which are challenged by scenarios cluttered with obstacles. Movement planning involves large scale nonlinear constrained optimization problems which are solved using the IPOPT solver. Simulation studies show that the model generates feasible and realistic hand trajectories for action sequences involving the two hands. The computational costs involved in the planning allow for real-time human robot-interaction. A qualitative analysis reveals that the movements of the robot exhibit basic characteristics of human movements.