MOTION RETARGETING CONTROL FOR HUMAN-ROBOT INTERACTION

Controlling a robot may be performed by calculating a desired velocity based on an operator contact force and a robot contact force, calculating a transformation matrix based on an operator pose, a robot pose, a robot trajectory, the operator contact force, and the robot contact force, calculating a least square solution to Jf+{circumflex over (v)}f based on the desired velocity, calculating a scaling factor based on a current joint position of a joint of the robot, calculating a first trajectory based on the least square solution, the scaling factor, and the transformation matrix, calculating the robot trajectory, calculating a joint command based on the robot trajectory and the robot pose, and implementing the joint command.