A hierarchical framework that maps wrist force/torque into velocity commands and then into stable leg motions lets a humanoid robot carry loads cooperatively with a human using only haptic cues.
Human-robot planar co-manipulation of extended objects: data-driven models and control from human-human dyads,
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H2-COMPACT: Human-Humanoid Co-Manipulation via Adaptive Contact Trajectory Policies
A hierarchical framework that maps wrist force/torque into velocity commands and then into stable leg motions lets a humanoid robot carry loads cooperatively with a human using only haptic cues.