Collaboration is central to human behavior, enabling tasks beyond individual capability. This ability arises from coordinating actions through internal representations of others, a concept known as shared intelligence. Additionally, humans are characterized by physical bodies and cognitive abilities that are optimized in response to their environment, a phenomenon referred to as embodied cognition. Designing humanoid robots that collaborate safely and effectively with people requires unifying these principles. Here we propose an architecture that integrates shared intelligence and embodied cognition to enable robots to physically collaborate with humans, where robot hardware and control are optimized for human metrics, using representations of the human body and motion intelligence. The ultimate goal is to achieve a form of shared embodied intelligence. Specifically, our architecture optimizes robot hardware and physical intelligence parameters with respect to human ergonomic metrics. This is accomplished by modeling human-robot interaction as a function of hardware configurations and embedding human models into the robot's physical intelligence. As a concrete implementation, we present the humanoid robot ergoCub, whose morphology and control have been optimized for collaborative tasks with humans. Our approach provides a framework for designing humanoid robots that prioritize human ergonomics at both the hardware and physical intelligence levels, with applications in industrial and assistive robotics.

翻译：协作是人类行为的核心，使其能够完成超出个体能力的任务。这种能力源于通过对他人的内部表征来协调行动，这一概念称为共享智能。此外，人类以其响应环境优化后的身体形态和认知能力为特征，这种现象称为具身认知。设计能与人安全有效协作的人形机器人需要统一这些原理。本文提出一种整合共享智能与具身认知的架构，使机器人能够与人类进行物理协作，其中机器人硬件和控制基于人体表征与运动智能进行人类指标优化。最终目标是实现共享具身智能的形式。具体而言，我们的架构通过人类工效学指标优化机器人硬件和物理智能参数。这通过将人机交互建模为硬件配置的函数，并将人体模型嵌入机器人物理智能中实现。作为具体实施案例，我们展示了人形机器人ergoCub，其形态和控制已针对人类协作任务进行优化。该方法为设计在硬件和物理智能层面均优先考虑人类工效学的人形机器人提供了框架，可应用于工业机器人和辅助机器人领域。