Compliance Control and Human–Robot Interaction: Part 1 — Survey

Khan, S. G., Herrmann, G., Al Grafi, M., Pipe, A. G. and Melhuish, C. (2014) Compliance Control and Human–Robot Interaction: Part 1 — Survey. International Journal of Humanoid Robotics, 11 (03). p. 1430001. ISSN 0219-8436 Available from:

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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.

Item Type:Article
Uncontrolled Keywords:compliance, impedance, humanoids, optimal adaptive control, HRI, pHRI
Faculty/Department:Faculty of Environment and Technology > Department of Engineering Design and Mathematics
ID Code:28912
Deposited By: B. Jones
Deposited On:23 May 2016 13:51
Last Modified:09 Jun 2016 11:32

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