Human-Robot Collaboration during the Execution of Structured Co-manipulation Tasks

In this work, we consider human-robot collaboration during the execution of structured co-manipulation tasks to be interactively accomplished exploiting the human physical guidance. In this scenario, human interventions are continuously assessed by the robotic system to infer whether the human guidance is consistent with respect to the shared plan. On the other hand, the estimated intentions associated with the human interventions are also exploited by the robot to on-line regulate its cooperative behavior in the context of the shared task. For this purpose, the collaborative robot can adjust tasks/subtasks, or motions, while regulating its compliance with respect to the operator's guidanc