Walking paths during collaborative carriages do not follow the simple rules observed in the locomotion of single walking subjects.

Some works have already studied human trajectories during spontaneous locomotion. However, this topic has not been thoroughly studied in the context of human-human interactions, especially during collaborative carriage tasks. Thus, this manuscript aims to provide a broad analysis of the kinematics of two subjects carrying a table.

Inverse optimal control to model human trajectories during locomotion.

Cobotic applications require a good knowledge of human behaviour in order to be cleverly, securely and fluidly performed. For example, to make a human and a humanoid robot perform a co-navigation or a co-manipulation task, a model of human walking trajectories is essential to make the robot follow or even anticipate the human movements. This paper aims to study the Center of Mass (CoM) path during locomotion and generate human-like trajectories with an optimal control scheme.