Published October 20, 2025
| Version v1
Conference paper
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Digital Model-Based Optimization of Mobile Manipulators for Human-Robot Collaborative Tasks
Authors/Creators
Description
We present an optimization framework for mobile
manipulators in human-robot collaborative tasks integrating
layout planning, base pose selection, task sequencing, and
human-aware adaptation. A Particle Swarm Optimization
scheme balances efficiency and safety by considering cycle
time, manipulability, and operator proximity. Demonstrated
in a box-packing scenario, the framework reduces cycle time
and adapts to human presence.
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