Compliance Control and Human-Robot Interaction: Part II - Experimental Examples

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

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

7 Citations (Scopus)
371 Downloads (Pure)


Compliance control is highly relevant to human safety in human robot interaction (HRI). This paper presents multi-dimensional compliance control of a humanoid robot arm. A dynamic model-free adaptive controller with an anti-windup compensator is implemented on four degrees of freedom of a humanoid robot arm. The paper is aimed to compliment the associated review paper on compliance control. This is a model reference adaptive compliance scheme which employs end-effector forces (measured via joint torque sensors) as a feedback. The robot’s body-own torques are separated from external torques via a simple but effective algorithm. In addition, an experiment of physical human robot interaction is conducted employing the above mentioned adaptive compliance control
Original languageEnglish
Article number1430002
Number of pages21
JournalInternational Journal of Humanoid Robotics
Issue number3
Publication statusPublished - 6 Aug 2014


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


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