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Compliance control and human-Robot interaction: Part 1-survey

Khan, Said G.; Herrmann, Guido; Grafi, Mubarak Al; Pipe, Tony; Melhuish, Chris


Said G. Khan

Guido Herrmann

Mubarak Al Grafi

Chris Melhuish
Professor of Robotics & Autonomous Systems


© World Scientific Publishing Company. 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 control keeping in view physical human robot interaction (pHRI) e.g., passing an object, such as a cup, between a human and a robot. Compliance control may eventually provide an immediate and effective layer of safety by avoiding pushing, pulling or clamping in pHRI. Emerging areas such as soft robotics, which exploit the deformability of biomaterial as well as hybrid approaches which combine active and passive compliance are also highlighted.


Khan, S. G., Herrmann, G., Grafi, M. A., Pipe, T., & Melhuish, C. (2014). Compliance control and human-Robot interaction: Part 1-survey. International Journal of Humanoid Robotics, 11(03), 1430001.

Journal Article Type Review
Acceptance Date Jun 10, 2014
Publication Date Jan 1, 2014
Journal International Journal of Humanoid Robotics
Print ISSN 0219-8436
Publisher World Scientific Publishing
Peer Reviewed Peer Reviewed
Volume 11
Issue 03
Pages 1430001
Keywords compliance, impedance, humanoids, optimal adaptive control, HRI, pHRI
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