Impedance Control

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5 papers in the last four weeks, with none the four weeks before. 0.0% of all new papers.

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  1. Demonstration-Calibrated Port-Hamiltonian Retuning for Manipulation Policies

    Oct 5, 2026Yulong Yang, Fan Wu, Christine Allen-Blanchette +1Robot Policy AdaptationImpedance Control

    Princeton University · Arizona State University · Siemens Foundation Technologies

  2. KPI: A Promptable Kernel for Physical Interaction on Humanoids

    Sep 28, 2026Yikai Wang, Honghao Zhu, Xiao Hu +5Humanoid Robot ControlImpedance Control

    Carnegie Mellon University. · Autel US. · Northeastern University.

  3. Contact-Aware Impedance Controller for Robot-Assisted Ultrasound Imaging

    Sep 28, 2026MD Miraj Arefin, M Efe TiryakiImpedance ControlUltrasound Imaging

    Center for Robotics and AI (ROMER), Middle East Technical University, Ankara, Turkey

  4. CompliantWBC: Whole-Body Compliance for Heavy Humanoids via Force Latent Estimation and Residual Impedance Targets

    Sep 27, 2026Tan-Dzung Do, Cuc T. Trinh, Tuan Dat Phuong +4RL for RoboticsHumanoid Robot Control

    VinRobotics · National University of Singapore · VinUniversity +1

  5. Continuous Manifold-Decomposed Impedance Retargeting for Contact-Rich Imitation Learning

    Sep 14, 2026Jiahao Liu, Kento Kawaharazuka, Tasuku Makabe +1Impedance ControlForce-Controlled Robotic Manipulation

    Department of Mechano-Informatics Graduate School of Information Science and Technology, The University of Tokyo Tokyo, Japan

  6. Gait-Dependent Effects on Quadruped Locomotion for Load-Carrying using Passive Mechanism

    Sep 11, 2026Giovanni B. Dessy, Claudio Semini, Victor BarasuolLegged RoboticsRobotics

    Dynamic Legged Systems, Istituto Italiano di Tecnologia, Genoa/GE, 16163, Italy

  7. VIDP: Variable Impedance Diffusion Policy for Compliant Robot Manipulation from Diverse Demonstrations

    Aug 6, 2026Hisham Khalil, Neil Fernandes, Thomas M. Kwok +2Contact-Rich Robotic ManipulationDiffusion Policy

    Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, Canada · Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ON, Canada · School of Computer Science and the Department of Electrical and Computer Engineering, McGill University, Montreal, QC, Canada

  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. MDIR: A Task-Manifold Impedance Retargeting Method for Contact-Rich Teleoperation

    Jul 31, 2026Liu Jiahao, Kento Kawaharazuka, Tasuku Makabe +1Contact-Rich Robotic ManipulationRobot Teleoperation

    Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan

  10. Plug, Play, and Comply: A Modular Framework for Online Variable Impedance with Arbitrarily Oriented Compliance Axes

    Jul 24, 2026Mihael Simonič, Xiaocong LiRobotic ControlImpedance Control

    College of Information Science and Technology, Eastern Institute of Technology, Ningbo, Ningbo 315200, China · Zhejiang Key Laboratory of Industrial Intelligence and Digital Twin, Eastern Institute of Technology, Ningbo, Ningbo 315200, China

  11. Impedance Control of Ship-Borne Manipulators via Optimization-based Task-Space Inverse Dynamics

    Jul 24, 2026Lingxiao Meng, Bi-Ke Zhu, Xuheng Gao +5Robot Trajectory TrackingContact-Rich Robotic Manipulation

  12. URF: A Unified Robot Control-Policy Framework for Stable Contact Aware Manipulation

    Jul 23, 2026Jiyou Shin, Youngjin Seo, Jaeseog Won +5Robotic ControlContact-Rich Robotic Manipulation

    The authors are with the Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon 2066, South Korea · The authors are with the Faculty of Intelligent Robotics, Sungkyunkwan University, Suwon 2066, South Korea

  13. Impedance-Guided Programmable Transmission of Localized Deformation in Modular Soft Metamaterials

    Jul 9, 2026Weiyun Xu, Daewon Hong, Zhi Zhao +2Materials ScienceImpedance Control

    Department of Civil and Environmental Engineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA. · Department of Mechanical Engineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA. · National Center for Supercomputing Applications, Urbana, IL 61801, USA.

  14. Real-Time Compliance and Position Control of a Hyper-redundant Soft Robotic Arm

    Jun 29, 2026Runze Zuo, Tianhua Zou, Naike Wu +2Robotic ControlImpedance Control

    Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109, USA.

  15. Contact-Consistent Interaction Dynamics Normalization for Predictive Physical Human--Robot Interaction

    Jun 12, 2026Yongyan CaoRobotic ControlRobust Control

    Voryx Robotics, San Jose, CA 95136, USA

  16. Ensuring Interaction Safety in Multitask Exoskeleton Control: A Simulation-Trained Variable Impedance Framework

    Jun 4, 2026Muyuan Ma, Houcheng Li, Haotian Zhai +4Robotic ControlImpedance Control

  17. Safety-Critical Adaptive Impedance Control via Nonsmooth Control Barrier Functions under State and Input Constraints

    May 27, 2026Faisal Lawan, Xiaoran Han, Joaquin Carrasco +2Control Barrier FunctionsRobust Control

    Department of Electrical and Electronic Engineering, The University of Manchester, M13 9PL, United Kingdom

  18. 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

  19. Intention assimilation control for accurate tracking with variable impedance in teleoperation

    May 7, 2026Atsushi Takagi, Yanan Li, Hiroaki Gomi +1Robot Trajectory TrackingRobot Teleoperation

  20. False Feasibility in Variable Impedance MPC for Legged Locomotion

    Apr 24, 2026Vishal RameshImpedance ControlModel Predictive Control

  21. Passive Variable Impedance For Shared Control

    Apr 22, 2026Maximilian Mühlbauer, Nepomuk Werner, Ribin Balachandran +4Impedance ControlFeedback Control

    School of Computation, Information and Technology, Sensor Based Robotic Systems and Intelligent Assistance Systems, Technical University Munich, Friedrich-Ludwig-Bauer-Str. 3, Garching, Germany. · German Aerospace Center (DLR), Robotics and Mechatronics Center (RMC), Münchener Str. 20, 82234 Weßling, Germany.

  22. GenerativeMPC: VLM-RAG-guided Whole-Body MPC with Virtual Impedance for Bimanual Mobile Manipulation

    Apr 21, 2026Marcelino Julio Fernando, Miguel Altamirano Cabrera, Jeffrin Sam +3Mobile ManipulationBimanual Robotic Manipulation

    Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia

  23. Visualizing Impedance Control in Augmented Reality for Teleoperation: Design and User Evaluation

    Mar 26, 2026Gijs van den Brandt, Femke van Beek, Elena TortaBimanual Robotic ManipulationContact-Rich Robotic Manipulation

    Department of Mechanical Engineering, Eindhoven University of Technology, The Netherlands

  24. TDC: Sim-to-Real Transferable Directional Compliance for Contact-Rich Manipulation

    Feb 15, 2026Yifei Yang, Anzhe Chen, Zhenjie Zhu +6Contact-Rich Robotic ManipulationSim-to-Real Transfer

    Zhejiang University · Zhejiang Humanoid Robot Innovation Center

  25. SPARC: Spine with Prismatic And Revolute Compliance for Faster Quadrupedal Bounding

    Oct 2, 2025Yue Wang, Yanran XuLegged RoboticsImpedance Control

    School of Electronic and Computer Science, University of Southampton, United Kingdom