  Enabling robots to work in close proximity to humans necessitates a control
framework that does not only incorporate multi-sensory information for
autonomous and coordinated interactions but also has perceptive task planning
to ensure an adaptable and flexible collaborative behaviour. In this research,
an intuitive stack-of-tasks (iSoT) formulation is proposed, that defines the
robot's actions by considering the human-arm postures and the task progression.
The framework is augmented with visuo-tactile information to effectively
perceive the collaborative environment and intuitively switch between the
planned sub-tasks. The visual feedback from depth cameras monitors and
estimates the objects' poses and human-arm postures, while the tactile data
provides the exploration skills to detect and maintain the desired contacts to
avoid object slippage. To evaluate the performance, effectiveness and usability
of the proposed framework, assembly and disassembly tasks, performed by the
human-human and human-robot partners, are considered and analyzed using
distinct evaluation metrics i.e, approach adaptation, grasp correction, task
coordination latency, cumulative posture deviation, and task repeatability.
