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The International Journal of Robotics Research
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Historical Perspective and State of the Art in Robot Force Control

Daniel E. Whitney

Charles Stark Draper Laboratory, Inc. Cambridge, Massachusetts 02139

This paper combines histarical lineage, assessment of the state of the art, and discussion of unsolved problems in robot force control. The difference between continuous and logic branching strategies is described. The development of various impedance strategies and hybrid methods is traced and com pared. The problem of stability is discussed, and remedies are related to higher strategy issues.

The International Journal of Robotics Research, Vol. 6, No. 1, 3-14 (1987)
DOI: 10.1177/027836498700600101
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