Compliance Control and Human-Robot Interaction: Part 1 - Survey

  title={Compliance Control and Human-Robot Interaction: Part 1 - Survey},
  author={Said Ghani Khan and Guido Herrmann and Mubarak Al Grafi and Anthony G. Pipe and Chris Melhuish},
  journal={Int. J. Humanoid Robotics},
Compliance control is highly relevant to human safety in human–robot interaction (HRI). This paper presents a review of various compliance control techniques. The paper is aimed to provide a good background knowledge for new researchers and highlight the current hot issues in compliance control research. Active compliance, passive compliance, adaptive and reinforcement learning-based compliance control techniques are discussed. This paper provides a comprehensive literature survey of compliance… 

Dynamic Control for Human-Humanoid Interaction

This chapter highlights and discusses dynamic control techniques for human–humanoid interaction (HHI), also referred to as human–robot interaction (HRI).

Adaptive Variable Impedance Control for a Modular Soft Robot Manipulator in Configuration Space

A variable impedance control in configuration space for a modular soft robot manipulator (MSRM) in the presence of model uncertainties and external forces is proposed and shown the effectiveness in stabilizing the position error and diminishing the impact of the external load compared to SM and PD controllers.


A model reference compliance control scheme is suggested for a robotic walk assist device based on integral sliding mode control (ISMC) coupled with a dynamic model based feedback linearization controller to make the device compliant via ISMC.

Compliance-Based Robotic Peg-in-Hole Assembly Strategy Without Force Feedback

An inexpensive method is proposed for peg-in-hole assembly without force feedback or passive compliance mechanisms that consists of an analysis of the state of contact between the peg and the hole as well as a strategy to overcome the inevitable positional uncertainty of the hole incurred in the recognition process.

Energy budgets for coordinate invariant robot control in physical human–robot interaction

This work assigns a safe energy budget for the robot and proposes to control the energy of the robot, which is a coordinate invariant entity, which has the potential to significantly speed up the commissioning of pHRI applications.

Model-Based Reinforcement Learning Variable Impedance Control for Human-Robot Collaboration

The proposed MBRL variable impedance controller shows improved human-robot collaboration and is capable to actively assist the human in the target task, compensating for the unknown part weight.

A strategy for human-robot collaboration in taking products apart for remanufacture

A strategy for human-robot collaborative disassembly that exploits the active compliance control capability of collaborative robots and its effectiveness at increasing flexibility and adaptability by reducing setup efforts is presented.



Semi-active compliant robot enabling collision safety for human robot interaction

This work proposed a unique method using semi-active compliant actuation mechanism having magneto-rheological (MR) fluid based actutaor that introduces reconfigurable compliance characteristics into the robot joints that enables high intrinsic safety coming from fluid mechanics.

Compliant control for a cable-actuated anthropomorphic robot arm: an experimental validation of different solutions

The problem of controlling the Dexter anthropomorphic robot arm with variable compliance has been investigated, not only to ensure safety in the interaction with humans, but especially to increase the robot functionality in tasks of physical interaction, performed in co-operation with humans.

Functional compliance in the control of a personal robot

  • L. ZolloC. LaschiG. TetiB. SicilianoP. Dario
  • Computer Science
    Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)
  • 2001
A specific compliant control solution has been developed for the DEXTER peculiar mechanical structure and actuation system, which cause a coupled joint configuration, which provides the capability of regulating the robot compliance according to the level of stiffness of the interaction environment.

Design, Control and Evaluation of a Whole-Sensitive Robot Arm for Physical Human-Robot Interaction

The experimental results of joint admittance control revealed the feasibility of the proposed approach to provide safe interaction of entire structure of robot arm with a person and the control system with load angle position feedback and lead compensator is proposed to improve dynamic behavior of flexible joint arm.

Safe physical human-robot interaction with industrial dual-arm robots

Methods and tests for the safe physical human-robot interaction in conventional position controlled and non-back driveable industrial robotic systems based on a simplified sensor-less estimation of external forces and saturation of joint control torques to keep the effective external forces under safety level are presented.

Experimental validation of functional compliance in an anthropomorphic personal robot

The paper describes the implementation of a compliant control scheme on an anthropomorphic robotic manipulator, illustrates in detail the methodology adopted for the experimental comparative validation and reports the results obtained in the execution of a sample task by a set of potential users, showing the increased performance in the case of compliant control.

Integration of active and passive compliance control for safe human-robot coexistence

The integration of active and passive approaches to robotic safety in an overall scheme for real-time manipulator control is discussed, and the effectiveness of their functional integration is demonstrated through experiments.

Compliance Control for an Anthropomorphic Robot with Elastic Joints: Theory and Experiments

Studies on motion control of robot manipulators with elastic joints are basically aimed at improving robot performance in tracking or regulation tasks. In the interaction between robots and

Torque-dependent compliance control in the joint space for robot-mediated motor therapy

This paper is focused on the design of interaction control of robotic machines for rehabilitative motor therapy of the upper limb. The control approach tries to address requirements deriving from the