Adaptive Human Robot Cooperation Scheme for Bimanual Robots

The paper deals with human robot cooperation, where a bimanual robot and a human are handling highly deformable objects, such as a table cloth. The initial policy is demonstrated by kinesthetic guidance. For safety reasons, the robot operates in high compliance mode, which degrades the performance of trajectory tracking algorithm necessary to perform the demonstrated task. This problem was solved applying iterative adaptation scheme, which successfully diminishes tracking errors in just few adaptation cycles. The proposed approach was verified with a table-cloth placing task involving a human and a bimanual robot composed of two Kuka LWR-4 robot arms.

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