According to the low intelligence level of agricultural tractors used nowadays,and the existing artificial intelligent technology can't satisfy the need of fully autonomous driving in the complicated field environment.Thisstudy designed a tractor-driving robot based on human-machine cooperation,which can upgrade a traditional tractor into an intelligent tractor nondestructively and rapidly.The driving robot structure consists of four parts:a steering control manipulator,shifting manipulator,rotary tiller lifting control manipulator,and pedal control mechanical leg.By studying the control method of human-machine cooperation,a human-machine cooperation intervention criterion is proposed,and a human-machine cooperation mode switching method is designed based on torque detection by steering motor current feedback.A human-machine cooperative control system and strategy was developed and evaluated in experiments.The performance of the tractor-driving robot and the effectiveness of human-machine cooperative control strategy have important practical significance for promoting precision agriculture and improving the intelligence level of modern agricultural equipment.