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In previous work  we have presented a modelfor generating human-like arm and hand movements on an anthropomorphic robot involved in human-robot collaboration tasks.This model was inspired by the Posture-Based  Motion-Planning Model  of human  movements.Numerical results and simulations for reach-to-grasp movements with two different grip types have been presented previously.In this paper we extend our model  in order to address the generation of more complex movement sequences which are challenged by scenarios cluttered with obstacles.The numerical results were obtained using  the IPOPT solver, which was integrated in our MATLAB simulator of an anthropomorphic robot.EU funded Project PF7 Marie Curie ``NETT - Neural Engineering Transformative Technologies'',by FEDER funds throughCOMPETE (Operational Programme Thematic Factors of Competitiveness) and by portuguese funds throughFCT (Foundation for Science and Technology)within the projects  PEst-C/MAT/UI0013/2011 and FCOMP-01-0124-FEDER-022674

Generating human-like movements on an anthropomorphic robot using an interior point method