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

October 2026publication date
Proposal available till 27-05-2025
4 total number of authors per manuscript0 $

The title of the journal is available only for the authors who have already paid for
Journal’s subject area:
Mechanical Engineering;
Industrial and Manufacturing Engineering;
Electrical and Electronic Engineering;
Control and Systems Engineering;
Software;
Artificial Intelligence;
Places in the authors’ list:
place 1place 2place 3place 4
FreeFreeFreeFree
2350 $1200 $1050 $900 $
Contract №7298.1 Contract №7298.2 Contract №7298.3 Contract №7298.4
1 place - free (for sale)
2 place - free (for sale)
3 place - free (for sale)
4 place - free (for sale)

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 :
0