Concepedia

Contact Force Control

Contact Force Control is a control framework within legged and whole-body robotic systems that regulates the interaction forces between the robot and its environment at physical contact points by dynamically coordinating actuator inputs to achieve stable and task-appropriate force execution.

387

Publications

19.1K

Citations

1.2K

Authors

449

Institutions

Publications per year

2017–2026

129

Parents

Publications

387

Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots

Patrick M. Wensing, Albert Wang, Sangok Seok et al. · IEEE Transactions on Robotics · 2017 · 460 citations · Full text

, , +15

Stable execution of contact tasks using impedance control

Neville Hogan · 2005 · 432 citations

, , +15

Hybrid impedance control of robotic manipulators

Robert J. Anderson, Mark W. Spong · IEEE Journal on Robotics and Automation · 1988 · 416 citations

, , +17

Adaptive variable impedance control for dynamic contact force tracking in uncertain environment

Jinjun Duan, Yahui Gan, Ming Chen et al. · Robotics and Autonomous Systems · 2018 · 397 citations

, , +16

Force and position control of manipulators during constrained motion tasks

James K. Mills, A.A. Goldenberg · IEEE Transactions on Robotics and Automation · 1989 · 384 citations

, , +17

1–5 of 387

Authors

1.2K

  1. HS
    H. Seraji

    Jet Propulsion Laboratory, United States

    7 publications · 574 citations

    7

    h-index

  2. OK
    Oussama Khatib

    Stanford University, United States

    7 publications · 565 citations

    7

    h-index

  3. AG
    A.A. Goldenberg

    University of Toronto, Canada

    7 publications · 497 citations

    7

    h-index

  4. MM
    Michael Mistry

    University of Southern California, United States

    6 publications · 316 citations

    6

    h-index

  5. JP
    Jaeheung Park

    Advanced Institute of Convergence Technology, South Korea

    6 publications · 575 citations

    6

    h-index

1–5 of 1.2K

Institutions

449

  1. Massachusetts Institute of Technology

    Cambridge, United States

    11 h-index

    26 publications

    4K citations

  2. Italian Institute of Technology

    Genoa, Italy

    11 h-index

    36 publications

    887 citations

  3. Stanford University

    Stanford, United States

    10 h-index

    19 publications

    1.2K citations

  4. The University of Tokyo

    Tokyo, Japan

    10 h-index

    30 publications

    814 citations

  5. Chinese Academy of Sciences

    Beijing, China

    8 h-index

    33 publications

    875 citations

  6. Jet Propulsion Laboratory

    Pasadena, United States

    8 h-index

    13 publications

    705 citations

  7. University of Toronto

    Toronto, Canada

    8 h-index

    16 publications

    1K citations

  8. University of Pisa

    Pisa, Italy

    7 h-index

    13 publications

    416 citations

1–8 of 449

Venues

  1. IEEE/ASME Transactions on Mechatronics

    10 publications · 358 citations

    10

    h-index

  2. IEEE Transactions on Robotics

    10 publications · 1.5K citations

    9

    h-index

  3. IEEE Robotics and Automation Letters

    9 publications · 613 citations

    9

    h-index

  4. 7

    h-index

  5. EP Europace

    6 publications · 856 citations

    6

    h-index

1–5