Space exploration and exploitation depend on the development of on-orbit robotic
capabilities for tasks such as servicing of satellites, removing of orbital debris, or …

This survey presents the state of the art of basic compliant control algorithms in a unified
view of past and present literature. Compliant control is fundamental when dealing with …

Thank you for opening the third edition of this monograph, dedicated to dissipative linear or
nonlinear, autonomous or time-varying, smooth or nonsmooth, single-valued or set-valued …

The importance of robots for industry, research, education, and society as a whole is steadily
increasing as reflected by the number of available systems and installed robots, not only in …

This paper describes a general passivity-based framework for the control of flexible joint
robots. Recent results on torque, position, as well as impedance control of flexible joint …

A robot manipulator sharing its workspace with humans should be able to quickly detect
collisions and safely react for limiting injuries due to physical contacts. In the absence of …

This paper presents an overview of admittance control as a method of physical interaction
control between machines and humans. We present an admittance controller framework and …

An integrated mechatronic design approach for LWR is presented. Owing to the partially
unknown properties of the environment, robustness of planning and control with respect to …

In this article, we gave an overview on the DLR activities related to two approaches for the
realization of soft robotics: actively torque-controlled LWRs and VSA. On the basis of our …

By the dawn of the new millennium, robotics has undergone a major transf-mation in scope
and dimensions. This expansion has been brought about by the maturity of the? eld and the …