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

• DOI: 10.12785/amis/090210
• Publication Date: 2015-03-01
• Authors: E. Costa; M. Fernanda P. Costa; D. Machado; Luís Louro; Wolfram Erlhagen; Estela Bicho
• Keywords: Solver; Nonlinear model

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 order address the generation of bimanual movement sequences which are challenged by scenarios cluttered with obstacles. Movement planning involves large scale nonlinear constrained optimization problems solved using IPOPT solver. Simulation studies show that generates feasible realistic trajectories action involving two hands. computational costs allow real-time human robot-interaction. A qualitative analysis reveals mo vements exhibit basic characteristics movements.