A review on the evolvement trend of robotic interaction control

Ali Leylavi Shoushtari*, Paolo Dario, Stefano Mazzoleni

*Corresponding author for this work

Research output: Contribution to journalArticleAcademicpeer-review

11 Citations (Scopus)


Purpose-Interaction plays a significant role in robotics and it is considered in all levels of hardware and software control design. Several models have been introduced and developed for controlling robotic interaction. This study aims to address and analyze the state-of-the-art on robotic interaction control by which it is revealed that both practical and theoretical issues have to be faced when designing a controller. Design/methodology/approach-In this review, a critical analysis of the control algorithms developed for robotic interaction tasks is presented. A hierarchical classification of distributed control levels from general aspects to specific control algorithms is also illustrated. Hence, two main control paradigms are discussed together with control approaches and architectures. The challenges of each control approach are discussed and the relevant solutions are presented. Findings-This review presents an evolvement trend of interaction control theories and technologies over time. In addition, it highlights the pros and cons of each control approaches with addressing how the flaws of one control approach were compensated by emerging another control methods. Originality/value-This review provides the robotic controller designers to select the right architecture and accordingly design the appropriate control algorithm for any given interactive task and with respect to the technology implemented in robotic manipulator.
Original languageEnglish
Pages (from-to)535-551
Number of pages17
JournalIndustrial Robot
Issue number5
Publication statusPublished - 15 Aug 2016
Externally publishedYes


  • Cooperative manipulation
  • Dynamic behaviour
  • Hybrid force/motion control
  • Impedance
  • Master-Slave control
  • Robotic interaction task


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