With the increasing complexity of humanoid mechanisms and their desired capabilities,
there is a pressing need for a generalized framework where a desired whole-body motion …

This paper presents a method by which a robot can learn through observation to perform a
collaborative manipulation task, namely lifting an object. The task is first demonstrated by a …

This article introduces several types of robots having physical interactions among a
human/humans and a robot/robots, which we have developed so far. MR Helper (mobile …

While human behavior prediction can increase the capability of a robotic partner to generate
anticipatory behavior during physical human robot interaction (pHRI), predictions in …

In this paper, we consider a stability analysis for the impedance control of the robot in the
human-robot cooperative task system. In the stability analysis, the effect of modeling …

Cooperative transportation by human and robotic coworkers constitutes a challenging
research field that could lead to promising technological achievements. Toward this …

In this paper, coupled dynamics are presented for two cooperating mobile robotic
manipulators manipulating an object with relative motion in the presence of uncertainties …

Physical cooperation between humans and robots has high potential impact in many critical
application areas such as flexible manufacturing, mobility aids, rehabilitation, general …

With the rapid progress of the robotic technology, it is becoming increasingly common to
have multiple robots working together for material transport, cooperative assembly, etc. To …

This paper presents a model that describes physical interactions during dyadic collaborative
tasks. This model is based on a homotopy between two controllers and defines the behavior …