3. Compliant control for physical collaboration

During interactions between humans and robots, each party may be constrained in its movements by the resistance exerted by the other. This mutual constraint influences the dynamics of their respective actions. Compliant control is used to facilitate and optimize these interactions. This not only enables the robot to interact more fluidly with the human, but also to be guided by the forces generated by this interaction. Indeed, these interaction forces play a crucial role in limiting and directing the robot's movements, enabling a more natural and intuitive cooperation between the two actors . As a...