The Human and TG Cooperatively Grasp the Object The Human Forms a Gesture to Terminate the Cooperative Transportation Procedure An F/T Sensor Is Mounted on the TG's Wrist The Human Applies Guiding Forces and Torques on the Object (a) (b) (c) Figure 7. The human-robot cooperative object transportation. (a) Cooperative object grasping. (b) Cooperative object transportation. (c) Gesture recognition. F/T: force/torque. Prescribed Performance Trajectory Estimation p, R υ hf Object Dynamics Leader Guiding Wrench Estimation hl PPC pd, Rd υd υd Impedance Control t Figure 8. A block diagram of the follower robotic agent's control scheme for the desired trajectory estimation and tracking. PPC: prescribed performance control. Prescribed Performance Trajectory Estimation p, R PPC υ hf Object Dynamics Computed Velocity Commands uc Figure 9. A block diagram of the mobile manipulator control scheme during the human-robot cooperative transportation procedure. 80 * IEEE ROBOTICS & AUTOMATION MAGAZINE * JUNE 2021 Human Guiding Wrench Estimation hl pd, Rd υd υd Impedance Control αc PAL TIAGo: Acting as Follower During Cooperative Unloading Task Mitsubish PA-10: Acting as Follower During Cooperative Loading Task " " ∫