Load sharing in human-robot cooperative manipulation

Martin Lawitzky, Alexander Mörtl, Sandra Hirche

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

65 Scopus citations


Physical cooperation with humans greatly enhances the capabilities of robotic systems when leaving standardized industrial settings. In particular, manipulation of bulky objects in narrow environments requires cooperating partners. Actuation redundancies arising in joint manipulation impose the question of load sharing among the interacting partners. In this paper, effort sharing policies are systematically derived from the geometric and dynamic task properties. Three policies are intuitively identified, resulting in unilateral and balanced effort distributions. These policies are evaluated within a novel hierarchical motion generation and control framework. The synthesized system is successfully validated in a threedegrees- of-freedom planar tracking experiment. This evaluation shows an interdependency of the load sharing strategy and the resulting task performance.

Original languageEnglish
Title of host publication19th International Symposium in Robot and Human Interactive Communication, RO-MAN 2010
Number of pages7
StatePublished - 2010
Event19th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2010 - Viareggio, Italy
Duration: 12 Sep 201015 Sep 2010

Publication series

NameProceedings - IEEE International Workshop on Robot and Human Interactive Communication


Conference19th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2010


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