{
  "abstract": "Provided is an invention capable of securing versatility and precision in admittance control and enabling target force control on a surface of an object having a different property, in which a mutual contact force-based compensation method is used in the existing admittance control method to output a target force. To this end, the present disclosure provides a compensation algorithm that changes according to a mutual contact force with an object having a different physical property and mass-spring-damper parameters using data acquired while controlling a force input from a robot is provided. In addition, the present disclosure automatically performs tuning on coefficients related to a factor of a robot force control based on data obtained by executing a mutual contact force-based compensation in the conventional admittance control.",
  "assignees": [
    "ELECTRONICS & TELECOMMUNICATIONS RES INST"
  ],
  "authors": [
    "BAEK JAEMIN",
    "KANG DONGYEOP",
    "KWON WOOKYONG",
    "PARK CHAN EUN",
    "SHIN SEUNGCHEON"
  ],
  "canonical_url": "https://opentechnical.org/p/OT-2026-000002080",
  "categories": [
    "robotics-automation/robot-architectures"
  ],
  "extent": {
    "figures": 0,
    "paragraphs": 0,
    "words": 126
  },
  "figures": [],
  "files": [
    {
      "bytes": 9962,
      "media_type": "text/html; charset=utf-8",
      "name": "index.html",
      "sha256": "d4f23190efe7892708137428993ea3778dfed04e908673260e7069deb2ceb9ca"
    },
    {
      "bytes": 1298,
      "media_type": "text/markdown; charset=utf-8",
      "name": "publication.md",
      "sha256": "c794763a7d2e7e11e26ff1abb29fd661bbc18daf4d27bb81deeb9d4e8af75541"
    },
    {
      "bytes": 1387,
      "media_type": "text/plain; charset=utf-8",
      "name": "publication.txt",
      "sha256": "af7015e693c350acd6f7fd3de689e916888b60b99969fc38a060b7c824595a9a"
    }
  ],
  "integrity": {
    "hash_algorithm": "sha256",
    "keys_url": "https://opentechnical.org/integrity/keys",
    "record_url": "https://opentechnical.org/p/OT-2026-000002080/integrity",
    "signature_algorithm": "Ed25519",
    "signature_file": "manifest.sig",
    "verify_url": "https://opentechnical.org/integrity/verify"
  },
  "keywords": [
    "b25j9/1633",
    "g05d15/01",
    "g05d15/01",
    "g05d15/01",
    "b25j9/1653",
    "g05b2219/39339"
  ],
  "language": "en",
  "license": {
    "name": "Creative Commons Attribution 4.0 International",
    "url": "https://creativecommons.org/licenses/by/4.0/"
  },
  "publication_id": "OT-2026-000002080",
  "published_at": "2026-09-15T19:10:39.936062Z",
  "publisher": "Nebula Innovations Limited",
  "record_type": "record",
  "schema": "opentechnical-publication-manifest/1.0",
  "source_date": "2026-03-10",
  "source_id": "US-12572162-B2",
  "source_name": "the United States Patent and Trademark Office",
  "source_url": "https://patents.google.com/patent/US12572162B2",
  "supersedes": null,
  "title": "System and method for precise force control of robot",
  "uuid": "01a0a67a-7b3f-7465-b271-1d923840900e"
}