Contact force
Related papers: 20
About
Contact force refers to the physical force exerted between two objects at their interface when they touch, encompassing normal forces perpendicular to a surface and tangential friction forces. In robotics and AI, contact force measurement, estimation, and control are fundamental to enabling machines to interact safely and dexterously with their environment and with humans. Robots sense contact forces through dedicated force/torque sensors, tactile sensor arrays, series elastic actuators, or sensorless estimation methods based on disturbance observers. This information drives control strategies such as impedance control, hybrid position/force control, and compliant whole-body control, allowing robots to regulate interaction stiffness, track desired force profiles, and maintain stable grasps. Contact force analysis underpins diverse applications including multi-fingered manipulation, legged locomotion, human-robot collaboration, and bilateral teleoperation. Understanding and governing contact forces matters because uncontrolled forces can damage robots, objects, or people, while precise force regulation enables delicate assembly, safe physical human-robot interaction, and manipulation tasks that would otherwise be impossible for rigid, position-only controlled systems.
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Series elastic actuators
Gill A. Pratt, Matthew M. Williamson
Citations: 2177 • 2002
GelSight: High-Resolution Robot Tactile Sensors for Estimating Geometry and Force
Wenzhen Yuan, Siyuan Dong, Edward H. Adelson
Citations: 1102 • 2017
Tactile sensing in dexterous robot hands — Review
Zhanat Kappassov, Juan Antonio Corrales Ramón, Véronique Perdereau
Citations: 748 • 2015
On the Closure Properties of Robotic Grasping
Antonio Bicchi
Citations: 532 • 1995
Force Tracking Impedance Control of Robot Manipulators Under Unknown Environment
Seul Jung, T.C. Hsia, R.G. Bonitz
Citations: 472 • 2004
Forces Acting on a Biped Robot. Center of Pressure—Zero Moment Point
P. Sardain, Guy Bessonnet
Citations: 461 • 2004
Reproducibility and operationality in bilateral teleoperation
Wataru Iida, Kouhei Ohnishi
Citations: 461 • 2004
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, David M. Otten, Jeffrey H. Lang, Sangbae Kim
Citations: 454 • 2017
Stable execution of contact tasks using impedance control
Neville Hogan
Citations: 432 • 2005
Whole-body motion planning with centroidal dynamics and full kinematics
Hongkai Dai, Andrés Valenzuela, Russ Tedrake
Citations: 418 • 2014
Modeling of Force Sensing and Validation of Disturbance Observer for Force Control
Seiichiro Katsura, Yuichi Matsumoto, Kouhei Ohnishi
Citations: 399 • 2007
Adaptive variable impedance control for dynamic contact force tracking in uncertain environment
Jinjun Duan, Yahui Gan, Ming Chen, Xianzhong Dai
Citations: 395 • 2018
Sensorless Robot Collision Detection and Hybrid Force/Motion Control
Alessandro De Luca, R. Mattone
Citations: 384 • 2006
Fully Printed Flexible Fingerprint-like Three-Axis Tactile and Slip Force and Temperature Sensors for Artificial Skin
Shingo Harada, Kenichiro Kanao, Yuki Yamamoto, Takayuki Arie, Seiji Akita, Kuniharu Takei
Citations: 349 • 2014
Grasping and Coordinated Manipulation by a Multifingered Robot Hand
Zexiang Li, Shankar Sastry
Citations: 345 • 1989
Series elastic actuators for high fidelity force control
Jerry Pratt, Ben Krupp, Chris Morse
Citations: 342 • 2002
Dynamics and Stability in Coordination of Multiple Robotic Mechanisms
Yoshihiko Nakamura, Kiyoshi Nagai, Tsuneo Yoshikawa
Citations: 335 • 1989
Hybrid position/Force control of multi-arm cooperating robots
S. Hayati
Citations: 332 • 1986
Full-Body Compliant Human–Humanoid Interaction: Balancing in the Presence of Unknown External Forces
Sang-Ho Hyon, Joshua G. Hale, Gordon Cheng
Citations: 316 • 2007
Manipulating and grasping forces in manipulation by multifingered robot hands
T. Yoshikawa, Kiyoshi Nagai
Citations: 315 • 1991