#7298. Hybrid Trajectory Replanning-Based Dynamic Obstacle Avoidance for Physical Human-Robot Interaction

December 2026publication date
Proposal available till 26-07-2025
4 total number of authors per manuscript0 $

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Journal’s subject area:
Mechanical Engineering;
Industrial and Manufacturing Engineering;
Electrical and Electronic Engineering;
Control and Systems Engineering;
Software;
Artificial Intelligence;
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Abstract:
This paper presents a hierarchical replanning framework that rapidly modulates the ongoing trajectory to help 7-DoF redundant manipulators avoid dynamic obstacles in physical human-robot interaction. In this method, the safety requirements of the end-effector and links are met without adding additional control burden. Simulations and real-world experiments validate the effectiveness and robustness of the proposed framework for whole-arm obstacle avoidance in dynamic scenarios.
Keywords:
Dynamic obstacle avoidance; Online trajectory generation; Physical human-robot interaction; Redundant manipulator; Trajectory replanning

Contacts :
4