Model estimation and control of compliant contact normal force

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Colleges, School and Institutes


This paper proposes a method to realize desired contact normal forces between humanoids and their compliant environment. By using contact models, desired contact forces are converted to desired deformations of compliant surfaces. To achieve desired forces, deformations are controlled by controlling the contact point positions. Parameters of contact models are assumed to be known or estimated using the approach described in this paper. The proposed methods for estimating the contact parameters and controlling the contact normal force are implemented on a LWR KUKA IV arm. To verify both methods, experiments are performed with the KUKA arm while its end-effector is in contact with two different soft objects.


Original languageEnglish
Title of host publicationProceedings of the 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids 2016)
Publication statusPublished - 2 Jan 2017
Event2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids) - The Westin Resort & Spa, Cancun, Mexico
Duration: 15 Nov 201617 Nov 2016

Publication series

ISSN (Electronic)2164-0580


Conference2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)
Internet address


  • Dynamics, Humanoid robots, Force, Estimation, Acceleration, Motion control