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iAPF: an improved artificial potential field framework for asymmetric dual-arm manipulation with real-time inter-arm collision avoidance

This paper presents a robust vision-based motion planning framework for dual-arm manipulators that introduces a novel three-way force equilibrium with velocity-dependent stabilization. The framework combines an improved Artificial Potential Field (iAPF) for linear velocity control with a Proportiona...

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Principais autores: S. K. Surya Prakash, Darshankumar Prajapati, Bhuvan Narula, Amit Shukla
Formato: Artigo
Idioma:Inglês
Publicado em: Frontiers Media S.A. 2025-10-01
coleção:Frontiers in Robotics and AI
Assuntos:
collision avoidance
motion planning
improved artificial potential field
dual-arm manipulators
industrial automation
Acesso em linha:https://www.frontiersin.org/articles/10.3389/frobt.2025.1604506/full
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