Active human-mobile manipulator cooperation through intention recognition

A human-mobile manipulator cooperation module is designed to support a target task consisting of the transportation of a rigid object between a mobile manipulator and a master human worker. Our approach introduces an intention recognition capability in the robot, based on the search for spectral patterns in the force signal measured at the arm gripper. The mobile manipulator takes advantage of this capability by generating its own motion plans in order to collaborate in the execution of the task. This has been designated as active cooperation.