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

Authors

E. Costa e Silva, CIICESI, ESTGF, Polytechnic Institute of Porto, Portugal\\ Centre for Mathematics/Dept. of Mathematics and Applications, University of Minho, PortugalFollow
M. F. Costa, Centre ALGORITMI/Dept. of Industrial Electronics, University of Minho, PortugalFollow
J .P. Ara?jo, Centre ALGORITMI/Dept. of Industrial Electronics, University of Minho, PortugalFollow
D. Machado, Centre ALGORITMI/Dept. of Industrial Electronics, University of Minho, PortugalFollow
L. Louro, Centre ALGORITMI/Dept. of Industrial Electronics, University of Minho, PortugalFollow
W. Erlhagen, Centre ALGORITMI/Dept. of Industrial Electronics, University of Minho, PortugalFollow

Author Country (or Countries)

Portugal

Abstract

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.

Recommended Citation

Costa e Silva, E.; F. Costa, M.; .P. Ara?jo, J; Machado, D.; Louro, L.; and Erlhagen, W. (2015) "Towards Human-like Bimanual Movements in Anthropomorphic Robots: A Nonlinear Optimization Approach," Applied Mathematics & Information Sciences: Vol. 09: Iss. 2, Article 10.
Available at: https://digitalcommons.aaru.edu.jo/amis/vol09/iss2/10