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Global vs. local nonlinear optimization techniques for human-like movement of an anthropomorphic robot

机译:拟人化机器人的类人运动的全局与局部非线性优化技术

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摘要

In this paper a comparison between using global and local optimization techniques for solving the problem of generating human-like arm and hand movements for an anthropomorphic dual arm robot is made. Although the objective function involved in each optimization problem is convex, there is no evidence that the admissible regions of these problems are convex sets. For the sequence of movements for which the numerical tests were done there were no significant differences between the optimal solutions obtained using the global and the local techniques. This suggests that the optimal solution obtained using the local solver is indeed a global solution.
机译:本文比较了使用全局和局部优化技术来解决拟人化双臂机器人产生类人手臂和手部运动的问题。尽管每个优化问题涉及的目标函数都是凸集,但没有证据表明这些问题的可容许区域是凸集。对于进行了数值测试的运动顺序,使用整体技术和局部技术获得的最优解之间没有显着差异。这表明使用局部求解器获得的最佳解的确是全局解。

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