iAPF: an improved artificial potential field framework for asymmetric dual-arm manipulation with real-time inter-arm collision avoidance
Year: 2025
Type: article
Abstract: 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 Proportional-Derivative (PD) controller for angular velocity, creating a hybrid twist command for precise manipulation. A priority-based state machine enables human-like asymmetric dual-arm manipulation. Lyapunov stability analysis proves the asymptotic convergence to desired configurations. The method introduces a computationally efficient continuous distance calculation between links based on line segment configurations, enabling real-time collision monitoring. Experimental validation integrates a real-time vision system using YOLOv8 OBB that achieves 20 frames per second with 0.99/0.97 detection accuracy for bolts/nuts. Comparative tests against traditional APF methods demonstrate that the proposed approach provides stabilized motion planning with smoother trajectories and optimized spatial separation, effectively preventing inter-arm collisions during industrial component sorting.
Source: Frontiers in Robotics and AI
Authors: S. K. Surya Prakash, Darshankumar Prajapati, Bhuvan Narula, Amit Shukla
Language: English
Subfield: Computer Vision and Pattern Recognition
Field: Computer Science
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,353
OpenAlex ID: W4415605448