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

Said G Khan, Guido Herrmann, Mubarak Al Grafi, Anthony G Pipe, Christopher R Melhuish

Research output: Contribution to journalArticle (Academic Journal)peer-review

31 Citations (Scopus)
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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, 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 physical human robot interaction. 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.
Original languageEnglish
Article number1430001
Number of pages28
JournalInternational Journal of Humanoid Robotics
Issue number3
Publication statusPublished - 3 Sept 2014


  • Compliance
  • impedance
  • humanoids
  • optimal adaptive control
  • HRI
  • pHRI


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