Over the last two decades, the foundations for physical human–robot interaction (pHRI) have
evolved from successful developments in mechatronics, control, and planning, leading …

Since the strict separation of working spaces of humans and robots has experienced a
softening due to recent robotics research achievements, close interaction of humans and …

This paper presents the application of a statistical framework that allows to endow a
humanoid robot with the ability to perform a collaborative manipulation task with a human …

The main result of this paper is a new model based on homotopy switching between
intrinsically distinct controllers that encompass most behaviors encountered in dyadic haptic …

In this study, an adaptive object deformability-agnostic human-robot collaborative
transportation framework is presented. The proposed framework enables to combine the …

Physical cooperation with humans greatly enhances the capabilities of robotic systems
when leaving standardized industrial settings. In particular, manipulation of bulky objects in …

This paper presents an integrated learning framework that enables humanoid robots to
perform human-robot collaborative manipulation tasks. Specifically, a table-lifting task …

Intuitive and effective physical assistance is an essential requirement for robots sharing their
workspace with humans. Application domains reach from manufacturing and service …

Traditionally the leader or follower role of the robot in a human-robot collaborative task has
to be predetermined. However, humans performing collaborative tasks can switch between …

This manuscript introduces an object deformability-agnostic framework for co-carrying tasks
that are shared between a person and multiple robots. Our approach allows the full control …