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This paper proposes a real-time joint adjustment planning method that optimizes dual-arm motion by defining a \u201cjoint discomfort\u201d metric, which quantifies the deviation of joint angles from their comfort positions, thereby enhancing the naturalness and human-likeness of the motion. Leveraging the parallel computing capability of recurrent neural networks (RNNs) and the redundancy resolution of dual arms, our method dynamically adjusts joint configurations to minimize discomfort while integrating trajectory tracking and obstacle avoidance constraints. Predefined tasks and constraints are formulated as a Quadratic Programming (QP) problem, efficiently solved using an RNN-based approach. Numerical simulations and physical experiments on the Ginger robot \u2013 a dual-arm system with 7-degree-of-freedom (DOF) manipulators\u00a0\u2013 validate the efficacy of the proposed planning method in three key aspects: (1) optimizing joint space utilization to enhance workspace flexibility, (2) adaptively regulating joint motions, and (3) achieving sub-millimeter tracking accuracy (position error \u00a10.15 mm) under dynamically constrained scenarios.<\/jats:p>","DOI":"10.1017\/s0263574726103336","type":"journal-article","created":{"date-parts":[[2026,5,5]],"date-time":"2026-05-05T06:31:16Z","timestamp":1777962676000},"page":"908-928","source":"Crossref","is-referenced-by-count":0,"title":["Recurrent neural network-based dynamic obstacle avoidance for dual-arm robot with joint discomfort optimization"],"prefix":"10.1017","volume":"44","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2958-2740","authenticated-orcid":false,"given":"Xuchong","family":"Zhang","sequence":"first","affiliation":[{"id":[{"id":"https:\/\/ror.org\/0530pts50","id-type":"ROR","asserted-by":"publisher"}],"name":"South China University of Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuanmeng","family":"Hu","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/0530pts50","id-type":"ROR","asserted-by":"publisher"}],"name":"South China University of Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jinbang","family":"Tan","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/0530pts50","id-type":"ROR","asserted-by":"publisher"}],"name":"South China University of Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuquan","family":"Lin","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/0530pts50","id-type":"ROR","asserted-by":"publisher"}],"name":"South China University of Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiaohui","family":"Ma","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/0530pts50","id-type":"ROR","asserted-by":"publisher"}],"name":"South China University of Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2026,5,5]]},"reference":[{"key":"S0263574726103336_ref22","first-page":"6","article-title":"Bio-inspired bas: Run-time path-planning and the control of differential mobile robot","volume":"1","author":"Ijaz","journal-title":"EAI Endors. 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