Adaptive Cooperative Control for Human-Robot Load Manipulation

In this letter, we propose a control strategy for human-robot cooperative manipulation under the ambiguous collaboration of human agent. To cope with uncertainty, an adaptive update law inferring contribution to system dynamics from basic perception feedback through arm stiffness is used. Furthermore, robustness and accuracy approach enhanced by redundantly tracking shared load references its associated end-effector position references. validate strategy, both theoretical Lyapunov stability analysis experimental results –employing two robot manipulators 6 degrees freedom external disturbances– are provided.