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A robot needs multiple interaction modes to robustly collaborate with a humanin complicated industrial tasks. We develop a Coexistence-and-Cooperation(CoCo) human-robot collaboration system. Coexistence mode enables the robot towork with the human on different sub-tasks independently in a shared space.Cooperation mode enables the robot to follow human guidance and recoverfailures. A human intention tracking algorithm takes in both human and robotmotion measurements as input and provides a switch on the interaction modes. Wedemonstrate the effectiveness of CoCo system in a use case analogous to a realworld multi-step assembly task.

Seamless Interaction Design with Coexistence and Cooperation Modes for Robust Human-Robot Collaboration