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

    Sep 28, 2026MD Miraj Arefin, M Efe TiryakiRobotic UltrasoundImpedance Control

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

  2. 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 +4Whole-Body ControlImpedance Control

    VinRobotics · National University of Singapore · VinUniversity +1

  3. Compliance for Free: Learning Identifiable Impedance via Bilateral Teleoperation

    Sep 17, 2026Harsha Guda, Adrià Colomé, Carme TorrasTeleoperationImpedance Control

    Institut de Rob`otica i Inform`atica Industrial, CSIC-UPC Barcelona, Spain

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

    Sep 14, 2026Jiahao Liu, Kento Kawaharazuka, Tasuku Makabe +1Impedance ControlImitation Learning

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

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

    Sep 11, 2026Giovanni B. Dessy, Claudio Semini, Victor BarasuolLocomotionGait Dynamics

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

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

    Aug 6, 2026Hisham Khalil, Neil Fernandes, Thomas M. Kwok +2Impedance ControlRobotic Manipulation Policies

    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

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

    Aug 3, 2026Zicheng Luo, Maolin Lei, Jinjie Li +3Impedance ControlAerial Robots

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

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

    Jul 31, 2026Liu Jiahao, Kento Kawaharazuka, Tasuku Makabe +1Impedance ControlCross-Embodiment Retargeting

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

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

    Jul 24, 2026Mihael Simonič, Xiaocong LiImpedance ControlRobotic Manipulator

    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

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

    Jul 24, 2026Lingxiao Meng, Bi-Ke Zhu, Xuheng Gao +5Impedance ControlTorque

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

    Jul 23, 2026Jiyou Shin, Youngjin Seo, Jaeseog Won +5Robotic Manipulation PoliciesImpedance Control

    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

  12. User-Driven Learning from Demonstration: A Trajectory and Impedance Learning Method

    Jul 18, 2026Zi-Qi Yang, Mehrdad R. KermaniRobot-Free DemonstrationsImpedance Control

    Department of Electrical and Computer Engineering, Western University, London, ON N6A 5B9, Canada.

  13. MIDAS Hand: Modular low-Impedance Direct-drive Anthropomorphic Sensing Hand

    Jul 16, 2026Alvin Zhu, Mingzhang Zhu, Beom Jun Kim +3Bimanual ManipulationTeleoperation

    Department of Computer Science, UCLA, Los Angeles, CA, USA. · Department of Electrical and Computer Engineering, UCLA, Los Angeles, CA, USA. · Department of Mechanical and Aerospace Engineering, UCLA, Los Angeles, CA, USA.

  14. ZiMPedance: Impedance-Aware ZMP Modeling and Control for Payload Carrying with Quadruped Robots

    Jun 17, 2026Giovanni B. Dessy, Lorenzo Amatucci, Victor Barasuol +1Impedance ControlLocomotion

    Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia (IIT).

  15. Deep Learning-Driven Inverse Design of Doherty Power Amplifiers Using Pixelated Combiners and Dual-State Impedance Synthesis

    Jun 16, 2026Han Zhou, Haojie Chang, David Widen +1Generative Inverse DesignGenerative Adversarial Network

    Tampere University, Tampere, Finland · Chalmers University of Technology, Gothenburg, Sweden

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

    Jun 12, 2026Yongyan CaoImpedance ControlWhole-Body Control

    Voryx Robotics, San Jose, CA 95136, USA

  17. Interaction Dynamics MPC for Knee Rehabilitation Exoskeletons: A Closed-Loop SEA Outer-Loop Study

    Jun 11, 2026Yongyan Cao, Jinshan TangExoskeletonImpedance Control

    Voryx Robotics · George Mason University, Dept. of Health Administration and Policy

  18. IMPACT: Learning Internal-Model Predictive Control for Forceful Robotic Manipulation

    Jun 9, 2026Jiawei Gao, Chaoqi Liu, Peilin Wu +2Robotic ManipulationImpedance Control

    Harvard University · Stanford University

  19. Toward Interaction Dynamics: A Predictive Framework for Safe Physical Human Robot Interaction

    Jun 6, 2026Yongyan Cao, Jinshan TangHuman-Robot InteractionImpedance Control

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

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

  21. The Biomimetic Architecture of Software 4.0

    Jun 1, 2026Philip Sheldrake, Dirk SchefflerSoftwareBio-Inspired Framework

    Unnamed Labs Amsterdam

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

    May 27, 2026Faisal Lawan, Xiaoran Han, Joaquin Carrasco +2Impedance ControlControl Barrier Functions

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

  23. Compliant Non-Prehensile Pushing Manipulation

    May 25, 2026Francesco Cufino, Mario Selvaggio, Fabio Amadio +1Impedance ControlRobotic Manipulation

    The authors are with the PRISMA Lab, department of Electrical Engineering and Information Technology of the University of Naples Federico II, Via Claudio, 21, Naples, 80125, Italy. · The author is with Inria, CNRS, Université de Lorraine, Nancy, 54000, France (work carried out while at the ABB Corporate Research Center, Västerås, 72226, Sweden).

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

    May 7, 2026Atsushi Takagi, Yanan Li, Hiroaki Gomi +1Impedance ControlTeleoperation

  25. Shared Autonomy Assisted by Impedance-Driven Anisotropic Guidance Field

    May 4, 2026Sihan Chen, Hang Xu, Yupu Lu +4TeleoperationImpedance Control

    School of Computing and Data Science, The University of Hong Kong, Hong Kong, China · School of Engineering, Nanjing University of Information Science and Technology, Nanjing, China

  26. False Feasibility in Variable Impedance MPC for Legged Locomotion

    Apr 24, 2026Vishal RameshImpedance ControlModel Predictive Control

  27. Passive Variable Impedance For Shared Control

    Apr 22, 2026Maximilian Mühlbauer, Nepomuk Werner, Ribin Balachandran +4Impedance ControlRobotic Manipulator

    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.

  28. Overcoming the Impedance Mismatch: A Theoretical Roadmap for Fusing Foundation Models and Knowledge Graphs

    Apr 21, 2026Sahil Rajesh DhayalkarGraph Foundation ModelNeuro-Symbolic Framework

    Arizona State University

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

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

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

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

    Mar 26, 2026Gijs van den Brandt, Femke van Beek, Elena TortaTeleoperationImpedance Control

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

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

    Oct 2, 2025Yue Wang, Yanran XuLegged RobotsImpedance Control

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

  32. Real-Time Safety Evaluation of Human Arm Operations Using a Wrist-Mounted IMU with PSM System

    Feb 13, 2025Musab Zubair Inamdar, Alhusain Al Hadrami, Seyed Amir TafrishiHuman-Robot CollaborationWrist

    Geometric Mechanics and Mechatronics in Robotics (gm2R) Lab, School of Engineering, Cardiff University, Cardiff CF24 3AA, United Kingdom