Human-like movement of an anthropomorphic robot: problem revisited
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...
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| Other Authors: | , , |
| Format: | conferencePaper |
| Language: | eng |
| Published: |
2011
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| Subjects: | |
| Online Access: | http://hdl.handle.net/1822/14754 |
| Country: | Portugal |
| Oai: | oai:repositorium.sdum.uminho.pt:1822/14754 |
| Summary: | 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. |
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