Admittance Control

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Overview

Admittance control turns sensed or estimated forces into motion, often through a task-space virtual mass–damper model, so robots yield appropriately during contact. Methods include fixed and variable-admittance controllers, force-aware payload compensation, hybrid impedance–admittance designs, and combinations with robust control or learned policies. Applications range from peg insertion, grasping, and surface inspection to aerial manipulation, teleoperation, and humanoid interaction. A central challenge is balancing precise task execution with compliance and safety despite uncertain forces, coupled dynamics, communication delays, and physical constraints.

Latest papers

CardsList

16 papers2 papers in the last four weeks, down 50% on the four weeks before. 0.0% of all new papers.

  1. Whole-Body Motion Guided Reference Generation for Uncertainty-Aware Compliant Assistance

    Oct 22, 2026Muyuan Ma, Long Cheng, Lijun Han +5Assistive RoboticsRobot Motion Generation

  2. Precise SE(3) End-Effector Tracking in Whole-Body Humanoid Control

    Oct 7, 2026Joohwan Seo, Xiaofeng Guo, Jinkun Cao +4Humanoid Robot ControlWhole-Body Robotic Manipulation

    University of California, Berkeley · Amazon FAR · Carnegie Mellon University

  3. Understanding User Preferences of a Slope-Aware Variable-Admittance Filter for a Robot Guide Dog

    Sep 14, 2026Federico Esposito, Mario Selvaggio, Aaron Link +1Admittance ControlAssistive Robotics

    Federico Esposito, Mario Selvaggio, Aaron Link, and Fabio Ruggiero

  4. Vision-Force Admittance Learning for Peg Insertion into a Movable Hole

    Sep 12, 2026Yuzhong Chen, Yongqing Liang, Yunzhi Xu +6Robotic InsertionRobotic Manipulation

    New York University, Brooklyn, NY 11201, USA · General Motors, Warren, MI 48073, USA

  5. Control Architecture for Safe Grasping of Fragile Objects Using a Coarse Position-Controlled Gripper

    Sep 11, 2026Marko Pavlic, Moritz Geier, Timo Markert +1Robotic GraspingContact-Rich Robotic Manipulation

    Machine Vision and Perception Group, Chair of Robotics, Artificial Intelligence and Real-time Systems, Technical University of Munich, Munich, Germany · Resense GmbH, Klingenberg, Germany · Semantic Information Systems Group, Osnabrück University, Osnabrück, Germany

  6. Behavior--Realization Separation for Constrained Physical Human--Robot Interaction

    Sep 1, 2026Yongyan CaoRobotic ControlAdmittance Control

    Voryx Robotics LLC, San Jose, CA 95136, USA

  7. Robust Sliding Mode and Admittance Control of Underactuated Aerial Manipulators for Contact-Based Inspection

    Aug 11, 2026Tareq Aziz Alqutami, Yvan Petillot, Matthew W. Dunnigan +1Robotic InspectionAdmittance Control

    Petroliam Nasional Berhad (PETRONAS), Malaysia · School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh, UK

  8. Hybrid Impedance-Admittance Control with Multi-Link Aerial Robot for Contact-Rich Surface Sliding Task

    Aug 3, 2026Zicheng Luo, Maolin Lei, Jinjie Li +3Contact-Rich Robotic ManipulationAdmittance Control

    Department of Mechanical-Engineering, The University of Tokyo, Bunkyo-ku, Tokyo 113-8656, Japan

  9. ATM: CID-Brokered Pre-Write Admission for Multi-Agent Code Co-Synthesis

    Jun 29, 2026Eagl HuangMulti-Agent CoordinationSoftware Engineering Agents

    Eagl Huang

  10. Admittance-Based Surface Alignment for Human-in-the-Loop Robotic Visual Inspection

    Jun 17, 2026Antara Banerjee, Colin Acton, Xu ChenRobotic ControlRobotic Inspection

    Department of Electrical and Computer Engineering, University of Washington, Seattle · Department of Mechanical Engineering, University of Washington, Seattle

  11. PaCo-VLA: Passivity-Shielded Compliance Prior for Contact-Rich Vision-Language-Action Manipulation

    May 30, 2026Haofan Cao, Zhaoyang Li, Zhichao You +2Contact-Rich Robotic ManipulationAdmittance Control

    Southwest Jiaotong University

  12. Bilateral Teleoperation with Compliant 6-DOF Pose-and-Force Sensing

    May 19, 2026Yue Feng, Weicheng Huang, I-Ming ChenAdmittance ControlRobot Teleoperation

    Robotics Research Centre Nanyang Technological University Singapore · WinGs Robotic USA

  13. Wrench-Aware Admittance Control for Unknown-Payload Manipulation

    Apr 21, 2026Hossein Gholampour, Logan E. BeaverAdmittance ControlRobotic Manipulation

    Department of Mechanical & Aerospace Engineering, Old Dominion University, Norfolk, VA 23529, USA

  14. Task-Adaptive Admittance Control for Human-Quadrotor Cooperative Load Transportation with Dynamic Cable-Length Regulation

    Apr 20, 2026Shuai Li, Ton T. H. Duong, Damiano ZanottoAerial RoboticsAdmittance Control

    Dept. of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ 07030, USA

  15. Minimalist Compliance Control

    Mar 1, 2026Haochen Shi, Songbo Hu, Yifan Hou +3Compliant Robot ControlVirtual Sensing

    Stanford University

  16. AI-Paging: Lease-Based Execution Anchoring for Network-Exposed AI-as-a-Service

    Feb 17, 2026Mohaned Chraiti, Merve SaimlerAdmittance ControlIntent-Based Networking

    Electronics Engineering Department, Sabancı University, Türkiye · Ericsson Research, Türkiye