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Towards Human-like Bimanual Movements in Anthropomorphic Robots: A Nonlinear Optimization Approach |
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PP: 619-629 |
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Author(s) |
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E. Costa e Silva,
M. F. Costa,
J .P. Araújo,
D. Machado,
L. Louro,
W. Erlhagen,
E. Bicho,
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Abstract |
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| 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. |
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