Versatile Interaction Control and Haptic Identification in Humans and Robots

  • Yanan Li
  • Nathanael Jarrassé
  • Etienne BurdetEmail author
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 117)


Traditional industrial robot controllers are typically dedicated to a specific task, while humans always interact with new objects yielding unknown interaction forces and instability. In this chapter, we examine the neuromechanics of such contact tasks. We develop a model of the necessary adaptation of force, mechanical impedance and planned trajectory for stable and efficient interaction with rigid or compliant surfaces of different structures. Simulations demonstrate that this model can be used as a novel adaptive robot controller yielding versatile control in representative interactive tasks such as cutting, drilling and haptic exploration, where the robot acquires a model of the geometry and structure of the surface along which it is moving.


Contact Force Interaction Force Adaptive Controller Reference Trajectory Drilling Direction 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



The authors thank Atsushi Takagi for editing the text.


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Yanan Li
    • 1
  • Nathanael Jarrassé
    • 3
  • Etienne Burdet
    • 1
    • 2
    Email author
  1. 1.Imperial College of Science, Technology and MedicineLondonUK
  2. 2.School of Mechanical and Aerospace EngineeringNanyang Technological UniversitySingaporeSingapore
  3. 3.CNRSSorbonne University, UPMC Univ Paris 06ParisFrance

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