# Intuitive Tasks Planning Using Visuo-Tactile Perception for Human Robot Cooperation

arXiv: https://arxiv.org/abs/2104.00342 · HTML: https://mlsanity.com/paper/2104.00342/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 1 Apr 2021.

## Built on by (most cited first, 1 of 1)

- [Whole-Body Control on Non-holonomic Mobile Manipulation for Grapevine Winter Pruning Automation](https://mlsanity.com/paper/2105.10777/) (2021)

## Abstract (arXiv)

Designing robotic tasks for co-manipulation necessitates to exploit not only proprioceptive but also exteroceptive information for improved safety and autonomy. Following such instinct, this research proposes to formulate intuitive robotic tasks following human viewpoint by incorporating visuo-tactile perception. The visual data using depth cameras surveils and determines the object dimensions and human intentions while the tactile sensing ensures to maintain the desired contact to avoid slippage. Experiment performed on robot platform with human assistance under industrial settings validates the performance and applicability of proposed intuitive task formulation.