Preprint
Aug 2026
Predictive Relative-Velocity Steering for Safe Robotic Manipulator Teleoperation in Dynamic Environments
This work proposes a lightweight and modular framework for proactive collision avoidance, operating directly at the end-effector velocity-command level, and shows that the proposed method achieves a higher end-effector collision avoidance rate than the baseline methods.
Changhao Hu, Zeyi Liu, Song Hu et al.
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