Collaborative robots are particularly designed for operation in the presence of humans and operate with lower forces and speeds than conventional robotic arms.
This provides essential prerequisites for applications such as robotic assistants.
The presence of humans during the robot's motion as well as the ability to anticipate confronts methods for motion planning against new challenges.
Our research focuses on optimization-based methods for real-time trajectory planning under the following aspects:

• Collision-free with respect to the environment and people,
• robust against uncertainties of the environment’s and people’s state,
• adaptive for spatially and temporarily varying targets such as points of interaction,
• temporally synchronized to the human work progress for a just-in-time robot-human interaction and
• comfortable compliance in case of intended physical contacts during a task.

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