Reactive human-robot collaborative manipulation of deformable linear objects using a new topological latent control model

Peng Zhou, Pai Zheng, Jiaming Qi, Chengxi Li, Hoi-Yin Lee, Anqing Duan, Liang Lu, Zhongxuan Li, Luyin Hu, David Navarro-Alarcon

Abstract: Highlights•A novel real-time human–robot collaboration framework for deformable object manipulation.•An efficient topology-aware latent encoding to support deformable object representation.•A latent space-based controller to support real-time human–robot collaboration for deformable object manipulation.•A detailed experimental validation of the proposed human–robot collaboration framework for deformable object manipulation.