{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,22]],"date-time":"2026-04-22T17:56:14Z","timestamp":1776880574101,"version":"3.51.2"},"reference-count":55,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2025,10,28]],"date-time":"2025-10-28T00:00:00Z","timestamp":1761609600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Robot. AI"],"abstract":"<jats:p>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.<\/jats:p>","DOI":"10.3389\/frobt.2025.1604506","type":"journal-article","created":{"date-parts":[[2025,10,28]],"date-time":"2025-10-28T06:25:45Z","timestamp":1761632745000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":2,"title":["iAPF: an improved artificial potential field framework for asymmetric dual-arm manipulation with real-time inter-arm collision avoidance"],"prefix":"10.3389","volume":"12","author":[{"given":"S. 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