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

Source: [Seamless Interaction Design with Coexistence and Cooperation Modes for Robust Human-Robot Collaboration](<https://www.sota2.com/research/paper/68fa6cb61e209131cea35781>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2025-10-26T00:16:46.056Z

Authors: Zhe Huang, Ye-Ji Mun, Xiang Li, Yiqing Xie, Ninghan Zhong, Weihang Liang, Junyi Geng, Tan Chen, Katherine Driggs-Campbell

Published: 2022-06-03T18:38:17.000Z

## Abstract

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

## Recorded benchmark results

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## Original sources and implementation

[Original paper](<https://arxiv.org/abs/2206.01775>)

[PDF](<https://arxiv.org/pdf/2206.01775.pdf>)