Perception and Control for Human-Robot Comanipulation of Deformable Objects

This PhD is part of the ANR HERR-MAN project that deals with physical human-robot collaboration in order to jointly carry out and co-manipulate highly dynamical and deformable object. The LCFC lab from ENIM-Université de Lorraine and LGP lab from UTTOP-ENIT in Tarbes are partners in this project. It merges contri- butions from the fields of human-robot interaction and the field of manipulation of deformable objects.The main goal of this PhD is to propose a new method to perceive the deformable object and the human while co-manipulating, and to control the robot based on online sensory data and a dynamic model of the deformable object.