In this article, a robust control scheme is proposed for robots to achieve an optimal
performance in the process of interacting with external forces from environments. The …

Motivated by human compliant behaviors during interacting with unknown environments and
how motions and impedance to are adapted skilfully complete a task, this article develops a …

Humans are able to compliantly interact with the environment by adapting its motion
trajectory and contact force. Robots with the human versatility can perform contact tasks …

Purpose This paper aims to deal with the force and position tracking problem when a robot
performs a task in interaction with an unknown environment and presents a hybrid control …

A spatial iterative control method is developed for robots to interact with an unknown
environment at a desired level. Motivated by the human adaptive behaviour, the developed …

Modern robots must be equipped with compliant interaction strategies to undertake complex
human-robot interaction tasks. This paper develops a comprehensive control system …

This paper applies the proposed hybrid force and position control method to the physical
robot system with interaction tasks to further improve our previous study. In the control …

In this paper, we develop a learning controller that adapts and tracks the impedance and
trajectory for robots interacting with unknown environments. Impedance adaptation is used …