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Physical human-robot interactions (pHRIs) can improve robot autonomy andreduce physical demands on humans. In this paper, we consider a collaborativetask with a considerably long object and no prior knowledge of the object'sparameters. An integrated control framework with an online object parameterestimator and a Cartesian object-aware impedance controller is proposed torealize complicated scenarios. During the transportation task, the objectparameters are estimated online while a robot and human lift an object. Theperturbation motion is incorporated into the null space of the desiredtrajectory to enhance the estimator accuracy. An object-aware impedancecontroller is designed using the real-time estimation results to effectivelytransmit the intended human motion to the robot through the object.Experimental demonstrations of collaborative tasks, including objecttransportation and assembly tasks, are implemented to show the effectiveness ofour proposed method.

Object-Aware Impedance Control for Human-Robot Collaborative Task with Online Object Parameter Estimation