# Admittance Control Parameter Adaptation for Physical Human-Robot Interaction

arXiv: https://arxiv.org/abs/1702.08376 · HTML: https://mlsanity.com/paper/1702.08376/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 27 Feb 2017.

## Built on by (most cited first, 1 of 1)

- [CR-VLA-Force: Learning Control-aware Compliance VLA Model for Robust Contact-rich Robotic Manipulation](https://mlsanity.com/paper/2609.05832/) (2026)

## Abstract (arXiv)

In physical human-robot interaction, the coexistence of robots and humans in the same workspace requires the guarantee of a stable interaction, trying to minimize the effort for the operator. To this aim, the admittance control is widely used and the appropriate selection of the its parameters is crucial, since they affect both the stability and the ability of the robot to interact with the user. In this paper, we present a strategy for detecting deviations from the nominal behavior of an admittance-controlled robot and for adapting the parameters of the controller while guaranteeing the passivity. The proposed methodology is validated on a KUKA LWR 4+.