Control of robotic systems in contact tasks: an overview

摘要

This paper presents an overview of basic concepts and algorithms that have been proposed for com- pliant motion control. The paper covers some early ideas and their later improvements, as well as new control concepts and recent trends in this field. The most relevant compliant motion control aspects are considered. First, the classification of concepts for compliant motion and the correlation between basic active control meth- ods and contact tasks are presented.