Human-Like Movement of an Anthropomorphic Robot: Problem Revisited

摘要

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.