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Autom.; citation_volume=3; citation_firstpage=43; citation_lastpage=53; citation_doi=10.1109/JRA.1987.1087068"> <meta name="citation_reference" content="citation_title=Two mode impedance control of Velma service robot redundant arm; citation_author=Winiarski, T.; citation_author=Banachowicz, K.; citation_author=Seredyński, D.; citation_publication_date=2015; citation_journal_title=Progr. Autom. Rob. Meas. Tech.; citation_volume=351; citation_firstpage=319; citation_lastpage=328"> <meta name="citation_reference" content="citation_title=Development and experimental evaluation of multi-fingered robot hand with adaptive impedance control for unknown environment grasping; citation_author=Zhang, T.; citation_publication_date=2016; citation_journal_title=Robotica; citation_volume=34; citation_firstpage=1168; citation_lastpage=1185; citation_doi=10.1017/S0263574714002161"> <meta name="citation_abstract" content="There have been significant interests and efforts in the field of impedance control on robotic manipulation over last decades. Impedance control aims to achieve the desired mechanical interaction between the robotic equipment and its environment. This paper gives the overview and comparison of basic concepts and principles, implementation strategies, crucial techniques, and practical applications concerning the impedance control of robotic manipulation. This work attempts to serve as a tutorial to people outside the field and to promote discussion of a unified vision of impedance control within the field of robotic manipulation. The goal is to help readers quickly get into the problems of their interests related to impedance control of robotic manipulation and to provide guidance and insights in finding appropriate strategies and solutions."> <meta name="citation_doi" content="10.1017/S0263574718001339"> <link rel="alternate" href="/core/journals/robotica/article/abs/tutorial-survey-and-comparison-of-impedance-control-on-robotic-manipulation/4C93E5D0778D23E0F9DDDA36E5E86C9E" hreflang="en" /> <link rel="icon" href="/core/cambridge-core/public/images/favicon.ico" type="image/x-icon"/> <link rel="shortcut icon" href="/core/cambridge-core/public/images/favicon.ico" type="image/x-icon"/> <link href='//fonts.googleapis.com/css?family=Noto+Sans:400,700,400italic,700italic' rel='stylesheet' type='text/css'>  <link rel="stylesheet" href="/core/cambridge-core/public/css/app.css?version=v7.337.1-hotfix"/> <link rel="dns-prefetch" href="https://usage.prod.aop.cambridge.org/v1/events"> <link rel="stylesheet" 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data-v-63dfaf6e>Volume 37 Issue 5</span> </a></li><li class="page-breadcrumbs__item" data-v-3692cf84><span aria-hidden="true" class="breadcrumbs-wrapper__arrow" data-v-3692cf84>></span><span data-v-3692cf84>A Tutorial Survey and Comparison of Impedance Control...</span></li></ul></div></div> <div class="language" data-v-3692cf84><ul class="language-switch" data-v-6b1118dd data-v-3692cf84><li aria-label="English" data-v-6b1118dd><span class="language-option current divider" data-v-6b1118dd>English</span></li><li aria-label="Français" data-v-6b1118dd><span role="button" tabindex="0" href="#" lang="fr" class="language-option" data-v-6b1118dd> Français </span></li></ul></div></div></div></div> <div class="container container__modified" data-v-01274b1d>  <div class="row" data-v-01274b1d><div role="complementary" aria-label="table of content" class="column__left" data-v-01274b1d><div class="col journal-container row" data-v-146270e8 data-v-01274b1d><img 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data-v-01274b1d> <hgroup data-v-862424e6><h1 data-v-862424e6>A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation</h1> </hgroup>     <div class="row published-date" data-v-862424e6><p data-v-862424e6> Published online by Cambridge University Press: <strong data-v-862424e6>29 January 2019</strong></p></div>   <div class="contributors-details" data-v-99f6eb26 data-v-862424e6><div class="row contributors" data-v-99f6eb26><div class="col" data-v-99f6eb26><div class="row contributor-type" data-v-792406ce data-v-99f6eb26> <div class="contributor-type__contributor" data-v-792406ce><a href="/core/search?filters%5BauthorTerms%5D=Peng%20Song&eventCode=SE-AU" class="app-link app-link__text app-link--accent" data-v-63dfaf6e data-v-792406ce><span data-v-63dfaf6e>Peng Song</span> </a>  <span data-v-792406ce>,</span></div><div class="contributor-type__contributor" data-v-792406ce><a href="/core/search?filters%5BauthorTerms%5D=Yueqing%20Yu&eventCode=SE-AU" class="app-link app-link__text app-link--accent" data-v-63dfaf6e data-v-792406ce><span data-v-63dfaf6e>Yueqing Yu</span> </a>  <span data-v-792406ce> and</span></div><div class="contributor-type__contributor" data-v-792406ce><a href="/core/search?filters%5BauthorTerms%5D=Xuping%20Zhang&eventCode=SE-AU" class="app-link app-link__text app-link--accent" data-v-63dfaf6e data-v-792406ce><span data-v-63dfaf6e>Xuping Zhang</span> </a>  <span data-v-792406ce></span></div> </div> </div> <div class="col-2 collapse-link" data-v-99f6eb26><a href="#authors-details" data-toggle="collapse" aria-expanded="false" aria-controls="authors-details" class="app-link collapsed app-link__text-icon app-link--secondary reverse" data-v-63dfaf6e data-v-99f6eb26><img src="data:image/svg+xml;base64,PHN2ZyB3aWR0aD0iMTEiIGhlaWdodD0iNiIgdmlld0JveD0iMCAwIDExIDYiIGZpbGw9Im5vbmUiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyI+CjxwYXRoIGZpbGwtcnVsZT0iZXZlbm9kZCIgY2xpcC1ydWxlPSJldmVub2RkIiBkPSJNNS41MDAwNiA2QzUuMzI4NDYgNiA1LjE2Mzk4IDUuOTMzMzkgNS4wNDI1MiA1LjgxNTAxTDAuMTg5NDQ4IDEuMDc3OEMtMC4wNjMxNzYzIDAuODMxMjU3IC0wLjA2MzE3NjMgMC40MzE0NTIgMC4xODk2MSAwLjE4NDkwOEMwLjQ0MjM5NiAtMC4wNjE2MzYgMC44NTIwNjIgLTAuMDYxNjM2IDEuMTA0NTIgMC4xODQ5MDhMNS41MDAwNiA0LjQ3NTc1TDkuODk1NiAwLjE4NDkwOEMxMC4xNDgyIC0wLjA2MTYzNiAxMC41NTc5IC0wLjA2MTYzNiAxMC44MTA1IDAuMTg0OTA4QzExLjA2MzEgMC40MzE0NTIgMTEuMDYzMSAwLjgzMTEgMTAuODEwNyAxLjA3NzhMNS45NTc2IDUuODE1MDFDNS44MzYxNCA1LjkzMzM5IDUuNjcxNjYgNiA1LjUwMDA2IDZaIiBmaWxsPSIjNzA3MDcwIi8+Cjwvc3ZnPgo=" alt="" class="app-icon icon arrow-down" data-v-d2c09870 data-v-63dfaf6e><span class="text" data-v-63dfaf6e>Show author details </span> </a></div></div> <hr aria-hidden="true" class="separator default" data-v-7036083a data-v-99f6eb26> <dl id="authors-details" class="authors-details collapse" data-v-2edb8da6 data-v-99f6eb26><div data-test-author="Peng Song" class="row author" data-v-2edb8da6><dt class="col-12 col-sm-2 title" data-v-2edb8da6>Peng Song</dt> <dd class="col content d-inline d-sm-flex" data-v-2edb8da6><span class="content__title" data-v-2edb8da6>Affiliation:</span> <div class="d-sm-flex flex-column flex-sm-1 d-inline" data-v-2edb8da6><span data-v-2edb8da6><span data-v-2edb8da6>College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, China E-mail: songpsp123@163.com</span> </span></div></dd></div><div data-test-author="Yueqing Yu" class="row author" data-v-2edb8da6><dt class="col-12 col-sm-2 title" data-v-2edb8da6>Yueqing Yu</dt> <dd class="col content d-inline d-sm-flex" data-v-2edb8da6><span class="content__title" data-v-2edb8da6>Affiliation:</span> <div class="d-sm-flex flex-column flex-sm-1 d-inline" data-v-2edb8da6><span data-v-2edb8da6><span data-v-2edb8da6>College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, China E-mail: yqyu@bjut.edu.cn</span> </span></div></dd></div><div data-test-author="Xuping Zhang" class="row author" data-v-2edb8da6><dt class="col-12 col-sm-2 title" data-v-2edb8da6>Xuping Zhang*</dt> <dd class="col content d-inline d-sm-flex" data-v-2edb8da6><span class="content__title" data-v-2edb8da6>Affiliation:</span> <div class="d-sm-flex flex-column flex-sm-1 d-inline" data-v-2edb8da6><span data-v-2edb8da6><span data-v-2edb8da6>Aarhus School of Engineering & Department of Engineering, Aarhus University, Aarhus, Denmark</span> </span></div></dd></div> <div class="row" data-v-2edb8da6><dt class="col-sm-2 col-12 title" data-v-2edb8da6> * </dt> <dd class="col content" data-v-2edb8da6><div class="row" data-v-2edb8da6><div class="d-sm-flex d-inline flex-sm-1 flex-sm-wrap" data-v-2edb8da6><div class="d-inline" data-v-2edb8da6><span data-v-2edb8da6><div class="corresp"><span class="label">*</span>Corresponding author. E-mail: <a href="mailto:xuzh@ase.au.dk">xuzh@ase.au.dk</a></div></span></div></div></div></dd></div> <hr aria-hidden="true" class="separator default" data-v-7036083a data-v-2edb8da6></dl></div></div> <div id="app-tabs" class="tabs" data-v-1d90c6ce data-v-01274b1d><div id="app-tabs-wrapper" class="tabs__wrapper" data-v-1d90c6ce><div role="navigation" aria-label="tab navigation" class="container" data-v-1d90c6ce><a data-toggle="collapse" href="#appTabs" role="button" aria-expanded="false" aria-controls="appTabs" class="tabs__collapse collapsed d-sm-none d-print-none" data-v-1d90c6ce><span data-v-1d90c6ce></span> <span class="tabs-arrow-up" data-v-1d90c6ce></span> <span class="tabs-arrow-down" data-v-1d90c6ce></span></a> <ul id="appTabs" role="tablist" class="nav nav-tabs tabs__list collapse show" data-v-1d90c6ce><li role="none" class="tabs__tab" data-v-1d90c6ce><a aria-selected="true" href="#article-tab" role="tab" aria-controls="article-tab" tabindex="-1" class="active" 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href="https://s100.copyright.com/AppDispatchServlet?publisherName=CUP&publication=ROB&title=A%20Tutorial%20Survey%20and%20Comparison%20of%20Impedance%20Control%20on%20Robotic%20Manipulation&publicationDate=29%20January%202019&author=Peng%20Song%2C%20Yueqing%20Yu%2C%20Xuping%20Zhang©right=Copyright%20%C2%A9%20Cambridge%20University%20Press%202019%C2%A0&contentID=10.1017%2FS0263574718001339&startPage=801&endPage=836&orderBeanReset=True&volumeNum=37&issueNum=5&oa=" data-test-id="buttonRightLink" class="app-link rights-link d-print-none app-link__text-icon app-link--accent" data-v-63dfaf6e data-v-92ee52a2 data-v-43a4d572><img src="/core/page-component/img/rights-icon.d4a677c.svg" alt="" class="app-icon icon rights" data-v-d2c09870 data-v-63dfaf6e><span class="text" data-v-63dfaf6e>Rights & Permissions </span> <span class="sr-only" data-v-63dfaf6e>[Opens in a new window]</span></a></div> <hr aria-hidden="true" class="separator default" data-v-7036083a></div> <div class="share-modal-overlay" style="display:none;" data-v-43a4d572></div> <div data-spy="scroll" data-target="#toc" class="scrollspy-content" data-v-43a4d572> <div id="sec0" class="col article-abstract sec" data-v-2fa8b348 data-v-43a4d572><div class="abstract-text-container" data-v-2fa8b348><div lang="en"><h2>Summary</h2>  <div class="abstract-content"><div class="abstract" data-abstract-type="normal"><p>There have been significant interests and efforts in the field of impedance control on robotic manipulation over last decades. Impedance control aims to achieve the desired mechanical interaction between the robotic equipment and its environment. This paper gives the overview and comparison of basic concepts and principles, implementation strategies, crucial techniques, and practical applications concerning the impedance control of robotic manipulation. This work attempts to serve as a tutorial to people outside the field and to promote discussion of a unified vision of impedance control within the field of robotic manipulation. The goal is to help readers quickly get into the problems of their interests related to impedance control of robotic manipulation and to provide guidance and insights in finding appropriate strategies and solutions.</p></div></div> <hr aria-hidden="true" class="abstract-divider separator default" data-v-7036083a></div></div>   </div>  <div class="keywords" data-v-86c27100 data-v-43a4d572><h2 data-v-86c27100>Keywords</h2> <div class="row keywords__pills" data-v-86c27100><a href="/core/search?filters[keywords]=Impedance control" data-v-f0b31360 data-v-86c27100><span data-v-f0b31360 data-v-86c27100>Impedance control</span></a><a href="/core/search?filters[keywords]=Interaction control" data-v-f0b31360 data-v-86c27100><span data-v-f0b31360 data-v-86c27100>Interaction control</span></a><a href="/core/search?filters[keywords]=Force control" data-v-f0b31360 data-v-86c27100><span data-v-f0b31360 data-v-86c27100>Force control</span></a><a href="/core/search?filters[keywords]=Robotic manipulation" data-v-f0b31360 data-v-86c27100><span data-v-f0b31360 data-v-86c27100>Robotic manipulation</span></a><a href="/core/search?filters[keywords]=Human–robot interaction" data-v-f0b31360 data-v-86c27100><span data-v-f0b31360 data-v-86c27100>Human–robot interaction</span></a></div> <hr aria-hidden="true" class="separator default" data-v-7036083a data-v-86c27100></div>  <dl class="article-details" data-v-6e32a161 data-v-43a4d572><div class="row" data-v-6e32a161><dt class="col-12 col-sm-3 col-md-2_5 title" data-v-6e32a161> Type </dt> <dd class="col content" data-v-6e32a161>Articles</dd></div> <div class="row" data-v-6e32a161><dt class="col-12 col-sm-3 col-md-2_5 title" data-v-6e32a161> Information </dt> <dd class="col content" data-v-6e32a161><div class="content__journal" data-v-6e32a161><a href="/core/journals/robotica" class="app-link app-link__text app-link--underlined" data-v-63dfaf6e data-v-6e32a161><span class="text" data-v-63dfaf6e>Robotica </span> </a> <span data-v-6e32a161> , <a href="/core/journals/robotica/volume/5C6463A1B38C2762C3EB40794346BF7D" class="app-link app-link__text app-link--underlined" data-v-63dfaf6e data-v-6e32a161><span class="text" data-v-63dfaf6e>Volume 37 </span> </a></span> <span data-v-6e32a161> , <a href="/core/journals/robotica/issue/1CC8FC06D7EBB36886B0679D0030F830" class="app-link app-link__text app-link--underlined" data-v-63dfaf6e data-v-6e32a161><span class="text" data-v-63dfaf6e>Issue 5 </span> </a></span> <span data-v-6e32a161>, May 2019</span>  <span data-v-6e32a161>, pp. 801 - 836</span> </div> <div class="doi-data" data-v-6e32a161><div data-v-6e32a161>DOI: <a target="_blank" href="https://doi.org/10.1017/S0263574718001339" class="app-link app-link__text app-link--accent" data-v-63dfaf6e data-v-6e32a161><span class="text" data-v-63dfaf6e>https://doi.org/10.1017/S0263574718001339 </span> <span class="sr-only" data-v-63dfaf6e>[Opens in a new window]</span></a></div> </div>  </dd></div>   <div class="row" data-v-6e32a161><dt class="col-12 col-sm-3 col-md-2_5 title" data-v-6e32a161> Copyright </dt> <dd class="col content" data-v-6e32a161><div data-v-6e32a161> Copyright © Cambridge University Press 2019 </div></dd></div></dl> <div id="access-block" class="d-print-none" data-v-43a4d572><div class="access-options"><h2 class="access-options__heading">Access options</h2> <span>Get access to the full version of this content by using one of the access options below. 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{layout:"default",data:[{article:{id:"4C93E5D0778D23E0F9DDDA36E5E86C9E",metadata:{title:b_,htmlTitle:b_,subtitle:a,authorsGroup:{authors:{contributors:[{givenNames:"Peng",surname:"Song",nameStyle:aC,affiliations:[{text:"College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, China E-mail: songpsp123@163.com",email:"songpsp123@163.com"}],isCorresponding:b,notes:a,isAnonymous:b,fullName:"Peng Song",searchUrl:"\u002Fcore\u002Fsearch?filters%5BauthorTerms%5D=Peng%20Song&eventCode=SE-AU",orcidUrl:e},{givenNames:"Yueqing",surname:"Yu",nameStyle:aC,affiliations:[{text:"College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, China E-mail: yqyu@bjut.edu.cn",email:"yqyu@bjut.edu.cn"}],isCorresponding:b,notes:a,isAnonymous:b,fullName:"Yueqing Yu",searchUrl:"\u002Fcore\u002Fsearch?filters%5BauthorTerms%5D=Yueqing%20Yu&eventCode=SE-AU",orcidUrl:e},{givenNames:"Xuping",surname:"Zhang",nameStyle:aC,affiliations:[{text:"Aarhus School of Engineering & Department of Engineering, Aarhus University, Aarhus, Denmark"}],isCorresponding:g,notes:"\u003Cdiv class=\"corresp\"\u003E\u003Cspan class=\"label\"\u003E*\u003C\u002Fspan\u003ECorresponding author. E-mail: \u003Ca href=\"mailto:xuzh@ase.au.dk\"\u003Exuzh@ase.au.dk\u003C\u002Fa\u003E\u003C\u002Fdiv\u003E",isAnonymous:b,fullName:"Xuping Zhang",searchUrl:"\u002Fcore\u002Fsearch?filters%5BauthorTerms%5D=Xuping%20Zhang&eventCode=SE-AU",orcidUrl:e}]},translators:{contributors:[],label:"Translated by"}},collections:[],publishedDate:"29 January 2019",keywords:[{url:"\u002Fcore\u002Fsearch?filters[keywords]=Impedance control",name:"Impedance control"},{url:"\u002Fcore\u002Fsearch?filters[keywords]=Interaction control",name:"Interaction control"},{url:"\u002Fcore\u002Fsearch?filters[keywords]=Force control",name:"Force control"},{url:"\u002Fcore\u002Fsearch?filters[keywords]=Robotic manipulation",name:"Robotic manipulation"},{url:"\u002Fcore\u002Fsearch?filters[keywords]=Human–robot interaction",name:"Human–robot interaction"}],openPracticeBadges:[],doi:{url:"https:\u002F\u002Fdoi.org\u002F10.1017\u002FS0263574718001339",value:"10.1017\u002FS0263574718001339"},copyright:{statement:["Copyright © Cambridge University Press 2019 "],holder:["Cambridge University Press"],year:[2019]},creativeCommons:e,acceptedManuscript:b,type:"research-article",pageRange:{range:"801 - 836",firstPage:"801",lastPage:"836"},typeDescription:"Articles",resultTypes:[],commentsCount:b$,topicsAndSubtopics:e},journal:{id:ca,title:p,titleSlug:cb,mnemonic:"ROB",titleHistory:[],isFirstView:b,journalSlug:cb,isCompanion:b,parentCompanionJournalName:p,associatedParentCollection:e,paymentInfo:{prices:{"£":{price:26,sku:aa,skuNew:W,currency:"£"},"€":{price:31,sku:aa,skuNew:W,currency:"€"},US$:{price:36,sku:aa,skuNew:W,currency:"US$"},AU$:{price:51,sku:aa,skuNew:W,currency:"AU$"}}},url:cc,firstViewUrl:"\u002Fcore\u002Fjournals\u002Frobotica\u002Ffirstview",coverUrl:"https:\u002F\u002Fstatic.cambridge.org\u002Fcovers\u002FROB_0_0_0\u002Frobotica.jpg",submitMaterialsUrl:"\u002Fcore\u002Fjournals\u002Frobotica\u002Finformation\u002Fauthor-instructions\u002Fsubmitting-your-materials",hasHistory:b,latestTitle:p,latestId:ca,hasPastTitle:b,issue:{id:"1CC8FC06D7EBB36886B0679D0030F830",number:aD,title:"Issue 5",publishedDate:"May 2019",printPublishTimestamp:1556668800000,url:cd},volume:{id:"5C6463A1B38C2762C3EB40794346BF7D",number:aE,title:"Volume 37",publishedDate:"August 2019",printPublishTimestamp:1564617600000,url:"\u002Fcore\u002Fjournals\u002Frobotica\u002Fvolume\u002F5C6463A1B38C2762C3EB40794346BF7D"}},abstract:{textAbstracts:[{title:"Summary",content:"\u003Cdiv class=\"abstract\" data-abstract-type=\"normal\"\u003E\u003Cp\u003EThere have been significant interests and efforts in the field of impedance control on robotic manipulation over last decades. Impedance control aims to achieve the desired mechanical interaction between the robotic equipment and its environment. This paper gives the overview and comparison of basic concepts and principles, implementation strategies, crucial techniques, and practical applications concerning the impedance control of robotic manipulation. This work attempts to serve as a tutorial to people outside the field and to promote discussion of a unified vision of impedance control within the field of robotic manipulation. The goal is to help readers quickly get into the problems of their interests related to impedance control of robotic manipulation and to provide guidance and insights in finding appropriate strategies and solutions.\u003C\u002Fp\u003E\u003C\u002Fdiv\u003E",lang:ce}]},content:{html:a,tableOfContent:[],footnotes:[],fulltextNotes:[],references:[{id:"ref1",displayNumber:u,existInContent:b,content:"\u003Cspan class=\"string-name\"\u003E\u003Cspan class=\"surname\"\u003EHogan\u003C\u002Fspan\u003E, \u003Cspan class=\"given-names\"\u003EN.\u003C\u002Fspan\u003E\u003C\u002Fspan\u003E, “\u003Cspan class=\"article-title\"\u003EAdaptive control of mechanical impedance by coactivation of antagonist muscles\u003C\u002Fspan\u003E,” \u003Cspan class=\"source\"\u003EIEEE Trans. Autom. Control\u003C\u002Fspan\u003E \u003Cspan class=\"volume\"\u003E29\u003C\u002Fspan\u003E(\u003Cspan class=\"issue\"\u003E8\u003C\u002Fspan\u003E), \u003Cspan class=\"fpage\"\u003E681\u003C\u002Fspan\u003E–\u003Cspan class=\"lpage\"\u003E690\u003C\u002Fspan\u003E (\u003Cspan class=\"year\"\u003E1984\u003C\u002Fspan\u003E).\u003Ca class='ref-link' target='_blank' aria-label='CrossRef link for Adaptive control of mechanical impedance by coactivation of antagonist muscles' href=https:\u002F\u002Fdx.doi.org\u002F10.1109\u002FTAC.1984.1103644\u003ECrossRef\u003C\u002Fa\u003E\u003Ca class='ref-link' target='_blank' aria-label='Google Scholar link for Adaptive control of mechanical impedance by coactivation of antagonist muscles' href=https:\u002F\u002Fscholar.google.com\u002Fscholar_lookup?title=Adaptive+control+of+mechanical+impedance+by+coactivation+of+antagonist+muscles&author=Hogan+N.&publication+year=1984&journal=IEEE+Trans.+Autom.+Control&volume=29&doi=10.1109%2FTAC.1984.1103644&pages=681-690\u003EGoogle Scholar\u003C\u002Fa\u003E",item:[{googleScholarLink:"https:\u002F\u002Fscholar.google.com\u002Fscholar_lookup?title=Adaptive+control+of+mechanical+impedance+by+coactivation+of+antagonist+muscles&author=Hogan+N.&publication+year=1984&journal=IEEE+Trans.+Autom.+Control&volume=29&doi=10.1109%2FTAC.1984.1103644&pages=681-690",openUrlParams:{genre:d,atitle:cf,jtitle:C,title:C,volume:X,artnum:"5cad1e08e846fe0846e061fb",spage:"681",epage:cg,date:"1984",sid:c,aulast:a,aufirst:a,doi:ch,au:a},innerRefId:"r1",title:cf,doi:ch,crossRefLink:"https:\u002F\u002Fdx.doi.org\u002F10.1109\u002FTAC.1984.1103644",pubMedLink:a}]},{id:"ref2",displayNumber:aF,existInContent:b,content:"\u003Cspan class=\"string-name\"\u003E\u003Cspan class=\"surname\"\u003EHogan\u003C\u002Fspan\u003E, \u003Cspan class=\"given-names\"\u003EN.\u003C\u002Fspan\u003E\u003C\u002Fspan\u003E, “\u003Cspan class=\"article-title\"\u003EThe mechanics of multi-joint posture and movement control\u003C\u002Fspan\u003E,” \u003Cspan class=\"source\"\u003EBiol. 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J. Rob. Res.","2015","2014","2016","IEEE Trans. Ind. Electron.","IEEE Trans. Rob. Autom.","Robotica","Proceedings. 1991 IEEE International Conference on Robotics and Automation","1991","2013","Proceedings. 1988 IEEE International Conference on Robotics and Automation","1","2004","IEEE Trans. Rob.","2001","1988","10","2007","14","IEEE Trans. Autom. Control","3","6","Robotics and Automation Handbook","2015 IEEE International Conference on Robotics and Automation","2014 IEEE\u002FRSJ International Conference on Intelligent Robots and Systems","Proceedings of 1995 IEEE International Conference on Robotics and Automation","J. Field Rob.","Wearable Robotics: Challenges and Trends","IEEE\u002FASME Trans. Mechatr.","1997","31","Proceedings of 2001 IEEE International Conference on Robotics and Automation","34","IEEE Rob. Autom. Lett.","Proceedings. 1987 IEEE International Conference on Robotics and Automation","J. Intell. Rob. Syst.","2017 29th Chinese Control and Decision Conference (CCDC)","2017 IEEE International Conference on Mechatronics and Automation (ICMA)","2015 IEEE International Conference on Robotics and Automation (ICRA)","S0263574718001339","29","8","24","2018","46","article_rob_ind_pur","52","1989","J. Neurophysiol.","Int. J. Control","12","15","Control Theor. Technol.","97","22","2012","61","33","254","30","1998","IEEE Trans. Control Syst. Technol.","1992","IEEE J. Rob. Autom.","1987","63","64","Control Eng. Pract.","IEEE Trans. Syst. Man Cybern. Syst.","IEEE Trans. Cybern.","IEEE Trans. Neural Syst. Rehabil. Eng.","165","IEEE Trans. Syst. Man Cybern. Part B (Cybern.)","western","5","37","2","1985","Proceedings of the International Conference on Robotics and Automation","4","17","2003","IFAC Proceedings Volumes","unknown","65","Proceedings of IEEE International Conference on Robotics and Automation","112","19","20","1995","2006 2nd IEEE\u002FASME International Conference on Mechatronics and Embedded Systems and Applications","2006","2012 IEEE\u002FRSJ International Conference on Intelligent Robots and Systems","23","Proceedings of the 2004 American Control Conference","25","32","26","Springer","27","28","22nd Mediterranean Conference on Control and Automation","2014 IEEE-RAS International Conference on Humanoid Robots","109","2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","35","Proceedings of the 1994 IEEE International Conference on Robotics and Automation","Proceedings. 1998 IEEE International Conference on Robotics and Automation","39","Proceedings of the 1991 IEEE International Symposium on Intelligent Control","43","117","2013 IEEE\u002FRSJ International Conference on Intelligent Robots and Systems","2017 Indian Control Conference (ICC)","2014 IEEE Conference on Biomedical Engineering and Sciences (IECBES)","Proceedings of the ASME Dynamic Systems and Control Conference","Proceedings, 1989 International Conference on Robotics and Automation","1993","Proceedings of 1994 3rd IEEE International Workshop on Robot and Human Communication","Proceedings 2002 IEEE International Conference on Robotics and Automation","Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems","2017 IEEE International Conference on Information and Automation (ICIA)","Robot Intelligence Technology and Applications 3: Results from the 3rd International Conference on Robot Intelligence Technology and Applications","82","Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication","2014 IEEE International Conference on Robotics and Automation","Proceedings of 1992 IEEE International Workshop on Robot and Human Communication","2006 IEEE International Conference on Robotics and Biomimetics","2007 IEEE 10th International Conference on Rehabilitation Robotics","2008 IEEE International Conference on Robotics and Biomimetics","2005 IEEE\u002FRSJ International Conference on Intelligent Robots and Systems","2016 IEEE International Conference on Robotics and Automation","107","5th IEEE RAS\u002FEMBS International Conference on Biomedical Robotics and Biomechatronics","Proceedings 6th IEEE International Workshop on Robot and Human Communication","Proceedings of the Twenty-Seventh AAAI Conference on Artificial Intelligence","2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","Proceedings of the IEEE\u002FRSJ International Conference on Intelligent Robots and Systems","Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings","2016 IEEE\u002FRSJ International Conference on Intelligent Robots and Systems (IROS)","2003 IEEE International Conference on Robotics and Automation","Conference Record of the Power Conversion Conference - Yokohama 1993","Proceedings 2006 IEEE International Conference on Robotics and Automation","2016 IEEE 13th International Conference on Signal Processing (ICSP)","2012 American Control Conference (ACC)","International Conference on New Frontiers in Engineering, Science & Technology","TRANSDUCERS ‘91: 1991 International Conference on Solid-State Sensors and Actuators. Digest of Technical Papers","Proceedings 2001 IEEE\u002FRSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the Next Millennium","2014 IEEE International Conference on Robotics and Automation (ICRA)","Proceedings of the 2014 Asia-Pacific Conference on Computer Science and Applications (CSAC 2014)","2017 IEEE International Conference on Robotics and Automation (ICRA)","A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation",0,"9D09B9EC51F7B2908BE018873570F515","robotica","\u002Fcore\u002Fjournals\u002Frobotica","\u002Fcore\u002Fjournals\u002Frobotica\u002Fissue\u002F1CC8FC06D7EBB36886B0679D0030F830","en","Adaptive control of mechanical impedance by coactivation of antagonist muscles","690","10.1109\u002FTAC.1984.1103644","The mechanics of multi-joint posture and movement control","Biol. Cybern.","10.1007\u002FBF00355754","1626","Impedance control and internal model formation when reaching in a randomly varying dynamical environment","86","1047","10.1152\u002Fjn.2001.86.2.1047","Impedance control for biped robot locomotion","10.1109\u002F70.976014","Adaptation to stable and unstable dynamics achieved by combined impedance control and inverse dynamics model","90","10.1152\u002Fjn.01112.2002","7","2008","9","Robust control of dynamically interacting systems","48","88","10.1080\u002F00207178808906161","1185","10.1109\u002FROBOT.1988.12222","11","CRC Press","13","Stability analysis for impedance control of robot in human-robot cooperative task system","J. Adv. Mech. Design Syst. Manufact.","113","121","10.1299\u002Fjamdsm.1.113","1996","10.1109\u002FROBOT.1996.506953","10.1109\u002FICRA.2015.7139036","16","10.1109\u002FIROS.2014.6943260","Modeling Robot Discrete Movements with State-Varying Stiffness and Damping: A Framework for Integrated Motion Generation and Impedance Control","Proceedings of Robotics: Science and Systems","Robot impedance control and passivity analysis with inner torque and velocity feedback loops","10.1007\u002Fs11768-016-5015-z","10.1109\u002FROBOT.1991.131824","10.1109\u002FROBOT.1995.525630","21","10.1109\u002FIROS.2012.6385433","Variable impedance actuators: A review","Rob. Auton. 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If this is the first time you used this feature, you will be asked to authorise Cambridge Core to connect with your Google Drive account. <a href="/core/help">Find out more about saving content to Google Drive</a>. </p> </div> </div> <div class="row book-title"> <div class="small-12 columns"> <div class="heading_08"><div class="title">A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation</div></div> </div> </div> <div class="row book-details book-overview"> <div class="small-12 columns"> <ul> <li class="volume-issue">Volume 37, <a href="">Issue 5</a></li> <li class="author"> <a href="/core/search?filters%5BauthorTerms%5D=Peng Song&eventCode=SE-AU" class="more-by-this-author ">Peng Song</a> <sup data-affiliation-id="a1" class="">(a1)</sup><span class="separator ">, </span><a href="/core/search?filters%5BauthorTerms%5D=Yueqing Yu&eventCode=SE-AU" class="more-by-this-author ">Yueqing Yu</a> <sup data-affiliation-id="a2" class="">(a2)</sup><span class="separator "> 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