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Physical cooperation with humans greatly enhances the capabilities of robotic systems when leaving standardized industrial settings. In particular, manipulation of bulky objects in narrow environments requires cooperating partners. Actuation redundancies arising in joint manipulation impose the question of load sharing among the interacting partners. In this paper, effort sharing policies are systematically derived from the geometric and dynamic task properties. Three policies are intuitivelydoi:10.1109/roman.2010.5598627 dblp:conf/ro-man/LawitzkyMH10 fatcat:652qtpqe7ncorfvhjawoij5374