@inproceedings {pub3683,
	title = {Dyadic Collaborative Manipulation through Hybrid Trajectory Optimization
},
	author = {Theodoros	 Stouraitis AND Michael Gienger AND Sethu Vijayakumar},
	year = {2018},
	month = {October},
	abstract = {The proposed approach provides a principled formalism to address the joined planning problem in
co-manipulation scenarios, by representing humans intentions into task space forces and solving
the joined problem holistically via model-based optimization. Additionally, the proposed method is
the first to empower robotic agents with the ability to exploit both the contact and the force space
towards finding the optimal solution for the co-manipulation task. The hybrid control problem
of finding both the grasp-holds and the contact forces, is solved using Non-linear optimization that
takes into account humans actions and adapts robot{\textquoteright}s actions towards attaining the optimal solution.
Further, we demonstrate on an actual robot the realization of the hybrid plans, while the robot co-
manipulates an object along with a human by applying the required forces, as well as by changing
grasp-hold in a timely manner.},
	publisher = {PMLR},
	booktitle = {Conference on Robot Learning (CoRL)}
}