I. INTRODUCTION
In recent years, there has been an increasing demand for robots capable of autonomously operating in human living environments and assisting people in their daily lives. Reaching this goal will require robots that can adapt to unpredictable changes and handle a wide range of tasks. Coordinated bimanual motions, in particular, are important in scenarios closely related to humans, such as support within households and tasks in factories, as they enable actions that are difficult with just one hand, like grasping bulky objects, transporting heavy loads and precision work [1].