When robots perform tasks in which constraint forces are applied to the end effector from the environment, the interactive forces must be controlled. Considering this problem, in robotics, force control has been recognized as one of the most important research topics since the beginning of robotics research. In order to control forces dexterously, several studies have been conducted concerning sensors, actuators, and control algorithms. Currently, compliance and impedance control is a newly identified topic in force control. In the biological analysis of human behavior, it is well known that man adjusts the impedance of skeletal muscles according to the kind of task and can perform them dexterously. A compliance/impedance control technique has been proposed in order to realize such a function in robot motion. The feature of compliance/impedance control is control of the interacting forces not directly but through adjustment of compliance/impedance parameters of the system. This control structure provides several benefits to enable robots perform to complex tasks dexterously; however, there are still a lot of problems to be solved before it can be put to practical use. This Special
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