I came up with this project because I wanted to explore the intricacies in highly dynamic human robot interactions. Robots now can carry things themselves, so I wanted to investigate how can they collaborate with humans on these tasks with vision-free sensing (force-torque) 

The goal is to teach a robot with a rigid end-effector to collaborative "pinch" objects with a human and move it in space. We have achieved success in 3d translations for various objects.

Final Video: https://drive.google.com/file/d/1V8x6jX6jQt6Bj6unplMdYftWUCn4y4Rk/view?usp=sharing

github

paper