Position Controlled Robot

Position-controlled robots, while prevalent, present challenges in tasks requiring precise force control during contact interactions. Current research focuses on improving force control indirectly through methods like whole-body inverse kinematics optimization and bounded stiffness contact reduction, enabling complex maneuvers such as multi-contact balancing and assembly tasks. These advancements leverage both proprioceptive sensing and advanced control algorithms to enhance robot dexterity and robustness in real-world scenarios, bridging the gap between simulation and physical implementation. The resulting improvements in manipulation capabilities have significant implications for human-robot collaboration and applications requiring precise interaction with the environment.