Proactive Motion Planning for Human-Robot Cooperation

Abstract

This abstract addresses the incorporation of human motion prediction into proactive and dynamic human-aware motion planning, with the goal of enabling safe collaboration between humans and robots. A deep learning, graph-based model is used to forecast human motion and is integrated into a planning framework. This framework employs a static roadmap along with a time-variant A* algorithm to modify the trajectory of a UR5e manipulator. This method greatly improves human-robot interaction and enables proactive collision avoidance by combining precise motion forecasts with adaptive trajectory planning.

Presented at I-RIM 3D 2025