  Enabling robots to work in close proximity with humans necessitates to employ
not only multi-sensory information for coordinated and autonomous interactions
but also a control framework that ensures adaptive and flexible collaborative
behavior. Such a control framework needs to integrate accuracy and
repeatability of robots with cognitive ability and adaptability of humans for
co-manipulation. In this regard, an intuitive stack of tasks (iSOT) formulation
is proposed, that defines the robots actions based on human ergonomics and task
progress. The framework is augmented with visuo-tactile perception for flexible
interaction and autonomous adaption. The visual information using depth
cameras, monitors and estimates the object pose and human arm gesture while the
tactile feedback provides exploration skills for maintaining the desired
contact to avoid slippage. Experiments conducted on robot system with human
partnership for assembly and disassembly tasks confirm the effectiveness and
usability of proposed framework.
