# Real-time trajectory planning based on joint-decoupled optimization in human-robot interaction

> Research article (Mechanism and Machine Theory, 2019) · cited 28× · AI/ML

**Wikidata**: [openalex:W2980592232](https://www.wikidata.org/wiki/openalex:W2980592232)  
**Source**: https://4ort.xyz/entity/real-time-trajectory-planning-based-on-joint-decoupled-optimization-in-human-robot-interaction